#region [自定义类-VS][20250623083459471][AutoThread] using Newtonsoft.Json; using System; using System.Collections.Generic; using System.Collections.Concurrent; using System.ComponentModel; using System.Linq; using System.Reflection; using System.Text; using System.Threading.Tasks; using GZ.Modular.Redis; using GZ.DB.Entity.OIDATABASE; using GZ.DB.IRepository.OIDATABASE; using GZ.DB.Repository.OIDATABASE; using static System.Windows.Forms.VisualStyles.VisualStyleElement; using System.Windows.Interop; using static System.Windows.Forms.VisualStyles.VisualStyleElement.TextBox; using System.Security.Cryptography; using System.Windows.Markup; using static GZ.Projects.AuxAllWCS.EasyPLC; using static System.Runtime.CompilerServices.RuntimeHelpers; using ServiceStack.Configuration; using ServiceStack; using Spectre.Console; using System.Net.WebSockets; using System.Net; using System.Threading; using System.IO; using GZ.Device.Agv; using System.Net.NetworkInformation; using System.Windows.Documents; using System.Text.RegularExpressions; namespace GZ.Projects.AuxAllWCS { public partial class AutoThread { private static AutoThread _instance; // 私有构造函数防止外部实例化 private AutoThread() { } public static AutoThread Instance { get { if (_instance == null) { _instance = new AutoThread(); } return _instance; } } // 线程安全的委托缓存 private static readonly ConcurrentDictionary _methodCache = new ConcurrentDictionary(); // 方法执行器 public static object InvokeMethod(object instance, string methodName, params object[] args) { var cacheKey = $"{instance.GetType().FullName}_{methodName}"; if (!_methodCache.TryGetValue(cacheKey, out var methodDelegate)) { // 获取方法信息 var methodInfo = instance.GetType().GetMethod( methodName, BindingFlags.Instance | BindingFlags.Public | BindingFlags.NonPublic); if (methodInfo == null) throw new MissingMethodException($"Method {methodName} not found"); // 创建委托并缓存 methodDelegate = Delegate.CreateDelegate( GetDelegateType(methodInfo), instance, methodInfo); _methodCache.TryAdd(cacheKey, methodDelegate); } // 执行委托 //if (methodName != "TaskEverythingRun") // return null; return methodDelegate.DynamicInvoke(args); } // 根据方法签名生成对应的委托类型 private static Type GetDelegateType(MethodInfo methodInfo) { var parameterTypes = methodInfo.GetParameters() .Select(p => p.ParameterType) .ToList(); if (methodInfo.ReturnType == typeof(void)) { return System.Linq.Expressions.Expression.GetActionType(parameterTypes.ToArray()); } else { parameterTypes.Add(methodInfo.ReturnType); return System.Linq.Expressions.Expression.GetFuncType(parameterTypes.ToArray()); } } /// /// 配置初始化。 /// /// /// public void ThreadSettingInit(Tag tag, Action action) { Console.WriteLine("初始化配置 线程 run " + tag.Global.SettingsOver); if (tag.Global.SettingsOver == 0) { action?.Invoke(); tag.Global.SettingsOver = 1; } else if (Settings.deviceInfos.Count == 0) { tag.Global.SettingsOver = 0; } else tag.Global.SettingsOver++; if (tag.Global.SettingsOver > 999) { tag.Global.SettingsOver = 1; Console.Clear(); } } public void ThreaTotal(Tag tag, Device device) { List tasks = new List(); tasks.Add(GetTask(delegate (Tag tag1, Device device1) { try { // foreach (var ip in new List { // device1.p发那科1下线.Config.IP, // device1.p发那科2下线.Config.IP, // device1.D定子1号机械手.Config.IP, // device1.D定子2号机械手.Config.IP, // device1.Js捷顺1.Config.IP, // device1.Js捷顺2.Config.IP, // device1.维希尔抓臂1.Config.IP, // device1.维希尔抓臂2.Config.IP, // device1.RGV.Config.IP, // device1.S1002Read.Config.IP, // device1.S2001Read.Config.IP, // device1.S3001Read.Config.IP //}) // { // string pattern = @"\b(25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)\.(25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)\.(25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)\.(25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)\b"; // var matches = Regex.Match(ip, pattern); // if (matches.Success) // { // var b = IsMachineOnline(matches.Value); // if (!Iponlines.ContainsKey(ip)) // { // Iponlines.TryAdd(ip, b); // } // else // Iponlines[ip] = b; // } // } } catch (Exception ex) { LogHelper.Error(ex.Message, ex); } }, tag, device, 3000)); tasks.Add(GetTask(ThreadMXC3, tag, 3000)); tasks.Add(GetTask(ThreadMXC4, tag, 3000)); //tasks.Add(GetTask(ResetGats, tag, 3000)); tasks.Add(GetTask(sa1022, tag, 3000)); tasks.Add(GetTask(sa1025, tag, 3000)); tasks.Add(GetTask(sa1030, tag, 3000)); tasks.Add(GetTask(sa2001, tag, 3000)); tasks.Add(GetTask(sa2030, tag, 3000)); tasks.Add(GetTask(sa2008, tag, 3000)); //tasks.Add(GetTask(sa3001, tag, 3000)); //tasks.Add(GetTask(sa3005, tag, 3000)); //tasks.Add(GetTask(sa3006, tag, 3000)); //tasks.Add(GetTask(sa3010, tag, 3000)); Task.WaitAll(tasks.ToArray()); } public static ConcurrentDictionary Iponlines = new ConcurrentDictionary(); public bool IsMachineOnline(string hostNameOrIp, int timeout = 1000) { //device.p发那科1下线.Config.IP LogHelper.Info("检测ip:>" + hostNameOrIp, "IP在线检测"); bool res = false; try { using (var ping = new Ping()) { var reply = ping.Send(hostNameOrIp, timeout); res = reply.Status == IPStatus.Success; } } catch (PingException) { res = false; } catch (Exception) { // 其他异常处理 res = false; } finally { LogHelper.Info("检测ip:>" + hostNameOrIp + " 结果：" + (res ? "通" : "不通"), "IP在线检测"); } return res; } private Task GetTask(Action action, Tag tag, int i = 2500) { var task = Task.Run(() => { while (true) { try { action(tag); } catch (Exception ex) { LogHelper.Error(ex.Message, ex); } Thread.Sleep(i); } }); return task; } private Task GetTask(Action action, Tag tag, Device dev, int i = 2500) { var task = Task.Run(() => { while (true) { try { action(tag, dev); } catch (Exception ex) { LogHelper.Error(ex.Message, ex); } Thread.Sleep(i); } }); return task; } public string WriteLine(string value = "") { // 在这里拦截处理输出 string intercepted = $"[拦截到的输出] {value}"; return intercepted; } /// /// 捷顺1 信号处理 /// /// public void ThreadJS1(Tag tag) { Console.WriteLine($"ThreadJS1 捷顺1 信号处理 =================> "); var VERX = Settings.deviceInfos?.Find(x => x.deviceType == 2 && x.deviceName == "Js捷顺1"); if (VERX != null) { LogHelper.Info($"{VERX.deviceName}时间戳 {RedisHelper.Get("Js捷顺1#Timestamp", out string mg)} D1212>{tag.Js1.D1212} 左满信号:{TcpServer.GetBitdata(tag.Js1.D1212, 2)} D1212_LAST>{tag.Js1.D1212_LAST} 右满信号>{TcpServer.GetBitdata(tag.Js1.D1212, 3)} D1213_LAST>{tag.Js1.D1213_LAST}"); if (tag.Js1.D1212_LAST == 0 && TcpServer.GetBitdata(tag.Js1.D1212, 2) == 1) { var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new { requestType = 4, endBit = VERX.location[0] })); LogHelper.Info($"{VERX.location[0]}申请mes任务结果{str}"); var strr = JsonConvert.DeserializeObject(str); if (strr != null && strr.success && strr.data?.state == 0) { //tag.Js1.D1212_LAST = 1; RedisHelper.Add($"Js捷顺1.D1202_LAST", "1", out string msg); } } if (tag.Js1.D1212_LAST == 1 && TcpServer.GetBitdata(tag.Js1.D1212, 2) == 0) { //tag.Js1.D1212_LAST = 0; tag.Js1.D1224 = 0; RedisHelper.Add($"Js捷顺1.D1202_LAST", "0", out string msg); //Conn.默认Redis.SetValue("Js捷顺1.D1224", "0", VERX.deviceName + "Queue"); } if (tag.Js1.D1213_LAST == 0 && TcpServer.GetBitdata(tag.Js1.D1212, 3) == 1) { var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new { requestType = 4, endBit = VERX.location[1] })); LogHelper.Info($"{VERX.location[1]}申请mes任务结果{str}"); var strr = JsonConvert.DeserializeObject(str); if (strr != null && strr.success && strr.data?.state == 0) { //tag.Js1.D1213_LAST = 1; RedisHelper.Add($"Js捷顺1.D1203_LAST", "1", out string msg); } } if (tag.Js1.D1213_LAST == 1 && TcpServer.GetBitdata(tag.Js1.D1212, 3) == 0) { //tag.Js1.D1213_LAST = 0; tag.Js1.D1225 = 0; RedisHelper.Add($"Js捷顺1.D1203_LAST", "0", out string msg); } } } /// /// 捷顺2 信号处理 /// /// public void ThreadJS2(Tag tag) { Console.WriteLine($"ThreadJS2 捷顺2 信号处理 =================> "); var VERX = Settings.deviceInfos?.Find(x => x.deviceType == 2 && x.deviceName == "Js捷顺2"); if (VERX != null) { LogHelper.Info($"{VERX.deviceName} 时间戳 {RedisHelper.Get("Js捷顺2#Timestamp", out string mg)} D1212>{tag.Js2.D1212} 左满信号:{TcpServer.GetBitdata(tag.Js2.D1212, 2)} D1212_LAST>{tag.Js2.D1212_LAST} 右满信号>{TcpServer.GetBitdata(tag.Js2.D1212, 2)} D1213_LAST>{tag.Js2.D1213_LAST}"); if (tag.Js2.D1212_LAST == 0 && TcpServer.GetBitdata(tag.Js2.D1212, 2) == 1) { var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new { requestType = 4, endBit = VERX.location[0] })); LogHelper.Info($"{VERX.location[0]}申请mes任务结果{str}"); var strr = JsonConvert.DeserializeObject(str); if (strr != null && strr.success && strr.data?.state == 0) { RedisHelper.Add($"Js捷顺2.D1202_LAST", "1", out string msg); } } if (tag.Js2.D1212_LAST == 1 && TcpServer.GetBitdata(tag.Js2.D1212, 2) == 0) { //tag.Js2.D1212_LAST = 0; tag.Js2.D1224 = 0; RedisHelper.Add($"Js捷顺2.D1202_LAST", "0", out string msg); } if (tag.Js2.D1213_LAST == 0 && TcpServer.GetBitdata(tag.Js2.D1212, 3) == 1) { var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new { requestType = 4, endBit = VERX.location[1] })); LogHelper.Info($"{VERX.location[1]}申请mes任务结果{str}"); var strr = JsonConvert.DeserializeObject(str); if (strr != null && strr.success && strr.data?.state == 0) { RedisHelper.Add($"Js捷顺2.D1203_LAST", "1", out string msg); } } if (tag.Js2.D1213_LAST == 1 && TcpServer.GetBitdata(tag.Js2.D1213, 2) == 0) { //tag.Js2.D1213_LAST = 0; tag.Js2.D1225 = 0; RedisHelper.Add($"Js捷顺2.D1203_LAST", "0", out string msg); } } } /// /// 维希尔1 左 /// /// public void Threadwxr1L(Tag tag) { Console.WriteLine($"Threadwxr1L 维希尔1 左 =================> "); var VERX = Settings.deviceInfos?.Find(x => x.deviceType == 1 && x.deviceName.Contains("1")); if (VERX != null) { if (tag.wxr1.R44) LogHelper.Info($"{VERX.deviceName} R44>{tag.wxr1.R44} R44LAST>{tag.wxr1.R44_LAST} R10>{tag.wxr1.R10}"); if (tag.wxr1.R44 && !tag.wxr1.R44_LAST && tag.wxr1.R10) { if (TcpServer.TrayIps.TryGetValue(VERX.deviceNo[0], out string traycode) && !string.IsNullOrEmpty(traycode.Trim())) { var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new { requestType = 1, cntrCode = traycode, startBit = VERX.location[0], endBit = "" })); LogHelper.Info($"{VERX.location[0]}申请mes任务结果{str}"); var strr = JsonConvert.DeserializeObject(str); if (strr != null && strr.success && strr.data?.state == 0) { //tag.wxr1.R44_LAST = true; RedisHelper.Add($"维希尔抓臂1.R44_LAST", "true", out string msg); } } else { TcpServer.TcpServerSend(VERX.deviceNo[0], GZ.Device.PLC.PlcHelper.Hex2Bin("544F4E")); } } else { //TaskRepository ts = new TaskRepository(); if (tag.wxr1.R10_LAST) //托盘放置信号。。 { if (tag.wxr1.R10) { //tag.wxr1.R10_LAST = false; RedisHelper.Add($"维希尔抓臂1.R10_LAST", "false", out string msg); } else if (TcpServer.TrayIps.TryGetValue(VERX.deviceNo[0], out string traycode) && !string.IsNullOrEmpty(traycode.Trim())) { //上报校验。 LogHelper.Info($"{VERX.deviceNo[0]} 上报校验>{traycode}"); ///var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/202", requestJson); var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/202", JsonConvert.SerializeObject(new { sceneType = 1, cntrCode = traycode, })); var strr = JsonConvert.DeserializeObject(str); if (strr != null && strr.success) //if (str.Contains("true")) { //Conn.默认Redis.SetValue("维希尔抓臂1.R10", "true", "维希尔抓臂1Queue"); //tag.wxr1.R10 = true; Conn.默认Redis.SetValue(VERX.deviceName + ".R10", "true", VERX.deviceName + "Queue"); //tag.wxr1.R44_LAST = false; RedisHelper.Add($"维希尔抓臂1.R44_LAST", "false", out string msg); } else { //报警。 } } else { TcpServer.TcpServerSend(VERX.deviceNo[0], GZ.Device.PLC.PlcHelper.Hex2Bin("544F4E")); } } else if (!tag.wxr1.R10) { TcpServer.TrayIps.Remove(VERX.deviceNo[0]); } } } } /// /// 维希尔1 右 /// /// public void Threadwxr1R(Tag tag) { Console.WriteLine($"Threadwxr1R 维希尔1 右 =================> "); var VERX = Settings.deviceInfos?.Find(x => x.deviceType == 1 && x.deviceName.Contains("1")); if (VERX != null) { if (tag.wxr1.R46) LogHelper.Info($"{VERX.deviceName} R46>{tag.wxr1.R46} R46LAST>{tag.wxr1.R46_LAST} R11>{tag.wxr1.R11}"); if (tag.wxr1.R46 && !tag.wxr1.R46_LAST && tag.wxr1.R11) { if (TcpServer.TrayIps.TryGetValue(VERX.deviceNo[1], out string traycode) && !string.IsNullOrEmpty(traycode.Trim())) { var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new { requestType = 1, cntrCode = traycode, startBit = VERX.location[1], endBit = "" })); LogHelper.Info($"{VERX.location[1]}申请mes任务结果{str}"); var strr = JsonConvert.DeserializeObject(str); if (strr != null && strr.success && strr.data?.state == 0) { //tag.wxr1.R46_LAST = true; RedisHelper.Add($"维希尔抓臂1.R46_LAST", "true", out string msg); } } else { TcpServer.TcpServerSend(VERX.deviceNo[1], GZ.Device.PLC.PlcHelper.Hex2Bin("544F4E")); } } else { if (tag.wxr1.R11_LAST) //托盘放置信号。。 { if (tag.wxr1.R11) { //tag.wxr1.R11_LAST = false; RedisHelper.Add($"维希尔抓臂1.R11_LAST", "false", out string msg); } else if (TcpServer.TrayIps.TryGetValue(VERX.deviceNo[1], out string traycode) && !string.IsNullOrEmpty(traycode.Trim())) { //上报校验。 LogHelper.Info($"{VERX.deviceNo[1]} 上报校验>{traycode}"); ///var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/202", requestJson); var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/202", JsonConvert.SerializeObject(new { sceneType = 1, cntrCode = traycode, })); var strr = JsonConvert.DeserializeObject(str); if (strr != null && strr.success) //if (str.Contains("true")) { //Conn.默认Redis.SetValue("维希尔抓臂1.R10", "true", "维希尔抓臂1Queue"); //tag.wxr1.R11 = true; Conn.默认Redis.SetValue(VERX.deviceName + ".R11", "true", VERX.deviceName + "Queue"); //tag.wxr1.R46_LAST = false; RedisHelper.Add($"维希尔抓臂1.R46_LAST", "false", out string msg); } else { //报警。 } } else { TcpServer.TcpServerSend(VERX.deviceNo[1], GZ.Device.PLC.PlcHelper.Hex2Bin("544F4E")); } } else if (!tag.wxr1.R11) { TcpServer.TrayIps.Remove(VERX.deviceNo[1]); } } } } /// /// 维希尔2 左 /// /// public void Threadwxr2L(Tag tag) { Console.WriteLine($"Threadwxr2L 维希尔2 左 =================> "); var VERX = Settings.deviceInfos?.Find(x => x.deviceType == 1 && x.deviceName.Contains("2")); if (VERX != null) { if (tag.wxr2.R44) LogHelper.Info($"{VERX.deviceName} R44>{tag.wxr2.R44} R44LAST>{tag.wxr2.R44_LAST} R10>{tag.wxr2.R10}"); if (tag.wxr2.R44 && !tag.wxr2.R44_LAST && tag.wxr2.R10) { if (TcpServer.TrayIps.TryGetValue(VERX.deviceNo[0], out string traycode) && !string.IsNullOrEmpty(traycode.Trim())) { var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new { requestType = 1, cntrCode = traycode, startBit = VERX.location[0], endBit = "" })); LogHelper.Info($"{VERX.location[0]}申请mes任务结果{str}"); var strr = JsonConvert.DeserializeObject(str); if (strr != null && strr.success && strr.data?.state == 0) { //tag.wxr2.R44_LAST = true; RedisHelper.Add($"维希尔抓臂2.R44_LAST", "true", out string msg); } } else { TcpServer.TcpServerSend(VERX.deviceNo[0], GZ.Device.PLC.PlcHelper.Hex2Bin("544F4E")); } } else { if (tag.wxr2.R10_LAST) //托盘放置信号。。 { if (tag.wxr2.R10) { //tag.wxr2.R10_LAST = false; RedisHelper.Add($"维希尔抓臂2.R10_LAST", "false", out string msg); } else if (TcpServer.TrayIps.TryGetValue(VERX.deviceNo[0], out string traycode) && !string.IsNullOrEmpty(traycode.Trim())) { //上报校验。 LogHelper.Info($"{VERX.deviceNo[0]} 上报校验>{traycode}"); ///var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/202", requestJson); var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/202", JsonConvert.SerializeObject(new { sceneType = 1, cntrCode = traycode, })); var strr = JsonConvert.DeserializeObject(str); if (strr != null && strr.success) //if (str.Contains("true")) { //Conn.默认Redis.SetValue("维希尔抓臂1.R10", "true", "维希尔抓臂1Queue"); //tag.wxr2.R10 = true; Conn.默认Redis.SetValue(VERX.deviceName + ".R10", "true", VERX.deviceName + "Queue"); //tag.wxr2.R44_LAST = false; RedisHelper.Add($"维希尔抓臂2.R44_LAST", "false", out string msg); } else { //报警。 } } else { TcpServer.TcpServerSend(VERX.deviceNo[0], GZ.Device.PLC.PlcHelper.Hex2Bin("544F4E")); } } else if (!tag.wxr2.R10) { TcpServer.TrayIps.Remove(VERX.deviceNo[0]); } } } } /// /// 维希尔2 右 /// /// public void Threadwxr2R(Tag tag) { Console.WriteLine($"Threadwxr2R 维希尔2 右 =================> "); var VERX = Settings.deviceInfos?.Find(x => x.deviceType == 1 && x.deviceName.Contains("2")); if (VERX != null) { if (tag.wxr2.R46) LogHelper.Info($"{VERX.deviceName} R46>{tag.wxr2.R46} R46LAST>{tag.wxr2.R46_LAST} R11>{tag.wxr2.R11}"); if (tag.wxr2.R46 && !tag.wxr2.R46_LAST && tag.wxr2.R11) { if (TcpServer.TrayIps.TryGetValue(VERX.deviceNo[1], out string traycode) && !string.IsNullOrEmpty(traycode.Trim())) { var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new { requestType = 1, cntrCode = traycode, startBit = VERX.location[1], endBit = "" })); LogHelper.Info($"{VERX.location[1]}申请mes任务结果{str}"); var strr = JsonConvert.DeserializeObject(str); if (strr != null && strr.success && strr.data?.state == 0) { //tag.wxr2.R46_LAST = true; RedisHelper.Add($"维希尔抓臂2.R46_LAST", "true", out string msg); } } else { TcpServer.TcpServerSend(VERX.deviceNo[1], GZ.Device.PLC.PlcHelper.Hex2Bin("544F4E")); } } else { //LogHelper.Info($"Threadwxr2R 托盘放置信号1。。 -{tag.wxr2.R11_LAST}"); if (tag.wxr2.R11_LAST) //托盘放置信号。。 { //LogHelper.Info($"Threadwxr2R 托盘放置信号1。。 -{tag.wxr2.R11}"); if (tag.wxr2.R11) { //tag.wxr2.R11_LAST = false; RedisHelper.Add($"维希尔抓臂2.R11_LAST", "false", out string msg); } else if (TcpServer.TrayIps.TryGetValue(VERX.deviceNo[1], out string traycode) && !string.IsNullOrEmpty(traycode.Trim())) { LogHelper.Info($"{VERX.deviceNo[1]} 上报校验>{traycode}"); //上报校验。 ///var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/202", requestJson); var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/202", JsonConvert.SerializeObject(new { sceneType = 1, cntrCode = traycode, })); var strr = JsonConvert.DeserializeObject(str); if (strr != null && strr.success) { //Conn.默认Redis.SetValue("维希尔抓臂1.R11", "true", "维希尔抓臂1Queue"); //tag.wxr2.R11 = true; LogHelper.Info($"Threadwxr2R。。 -写R11 true"); Conn.默认Redis.SetValue(VERX.deviceName + ".R11", "true", VERX.deviceName + "Queue"); //tag.wxr2.R46_LAST = false; RedisHelper.Add($"维希尔抓臂2.R46_LAST", "false", out string msg); LogHelper.Info($"Threadwxr2R。。 校验下料完成。"); } else { //报警。 } } else { LogHelper.Info($"Threadwxr2R。。 -发送扫码"); TcpServer.TcpServerSend(VERX.deviceNo[1], GZ.Device.PLC.PlcHelper.Hex2Bin("544F4E")); } } else if (!tag.wxr2.R11) { TcpServer.TrayIps.Remove(VERX.deviceNo[1]); } } } else { Console.WriteLine($"Threadwxr2R 维希尔2 右 设备未找到。 =================> "); } } public void ThreadTaskRun(Tag tag, Func action) { Console.WriteLine($"ThreadTaskRun 任务下发 =================> "); LogHelper.Info("ThreadTaskRun 任务下发"); ITaskRepository taskservice = new TaskRepository(); try { LogHelper.Info("任务下发 AGV 任务 进入"); #region AGV任务下发。 var tklist = taskservice.FindList(x => x.S_B_STATE == "未执行" && x.S_WORK_MODE == "AGV"); if (tklist.Any()) foreach (var tk in tklist.GroupBy(item => { var ticks = item.T_CREATE.Ticks; return new DateTime(ticks - ticks % (10 * TimeSpan.TicksPerMinute)); }).OrderBy(x => x.Key)) { var ts = tk.OrderByDescending(x => x.N_PRIORITY).ToList(); foreach (var t in ts) { var b = false; b = action?.Invoke(t) ?? false; //new ViewModel().RunTask(t); if (b) { t.S_B_STATE = "已推送"; taskservice.Update(t); } } break; } //foreach (var tk in tklist.GroupBy(item => //{ // var ticks = item.T_CREATE.Ticks; // return new DateTime(ticks - ticks % (10 * TimeSpan.TicksPerMinute)); //}).OrderBy(x => x.Key)) //if (tklist.Any()) //{ #endregion } catch (Exception ex) { LogHelper.Info(ex.Message + ex.StackTrace); } try { #region Rgv LogHelper.Info($"查看RGV 电量：【{tag.RGV.R当前电量}】 充电状态：【{tag.RGV.R充电状态}】 故障代码：【{tag.RGV.RgvrunError}】 手动1自动2【{tag.RGV.R手动1自动2}】"); if (tag.RGV.R充电状态 == 1) { LogHelper.Info($"RGV 充电模式，不用管。"); return; } if (tag.RGV.R手动1自动2 == 1) { LogHelper.Info($"RGV 手动模式，不用管。"); return; } if (tag.RGV.RgvrunError > 0) { LogHelper.Info($"RGV 故障，不用管。"); return; } LogHelper.Info($"RGV125命令查看 Rgv任务数据 写 workmode:{tag.RGV.workMod} taskmod{tag.RGV.taskmod} t1No:{tag.RGV.taskno1} t1do:{tag.RGV.task1do} t2No:{tag.RGV.taskno2} t2do:{tag.RGV.task2do} taskend:{tag.RGV.taskend} "); if (tag.RGV.taskend == 125) { LogHelper.Info($"RGV 有125命令未执行。 "); if (tag.RGV.workMod == 0 && tag.RGV.taskmod == 0 && tag.RGV.taskno1 == tag.RGV.ReadTask1No && tag.RGV.taskno2 == tag.RGV.ReadTask2No) { LogHelper.Info($"RGV125命令未执行 tag.RGV.workMod == 0 && tag.RGV.taskmod == 0 && tag.RGV.taskno1 == tag.RGV.ReadTask1No && tag.RGV.taskno2 == tag.RGV.ReadTask2No 自动清除125"); Conn.默认Redis.SetValue("RGV.taskend", "0", "RGVQueue", false); } System.Threading.Thread.Sleep(3000); return; } LogHelper.Info($"任务下发 Rgv任务数据 读 W1状态{tag.RGV.w1status} ReadTask1No>{tag.RGV.ReadTask1No} 1工位条码:{tag.RGV.bit1Code} bit1taskOver>{tag.RGV.bit1taskOver} W2状态{tag.RGV.w2status} ReadTask2No>{tag.RGV.ReadTask2No} 2工位条码:{tag.RGV.bit2Code} bit2taskOver>{tag.RGV.bit2taskOver}"); TaskEntity task1 = null; TaskEntity task2 = null; var task1Isrun = false; if (tag.RGV.ReadTask1No > 0 && tag.RGV.bit1taskOver != 1) { //var taskno = tag.RGV.ReadTask1No; //string tno = "TN" + (DateTime.Now.ToString("yy")) + ((taskno.ToString()).PadLeft(8, '0')); //task1 = taskservice.FindEntity(x => x.S_TASK_NO == tno); //if (task1 != null && task1.S_B_STATE != "完成") task1Isrun = true; //if (tag.RGV.bit1taskOver_LAST == 1) // RedisHelper.Add($"RGV.bit1taskOver_LAST", "0", out string msg); } var task2Isrun = false; if (tag.RGV.ReadTask2No > 0 && tag.RGV.bit2taskOver != 1) { //var taskno = tag.RGV.ReadTask2No; //string tno = "TN" + (DateTime.Now.ToString("yy")) + ((taskno.ToString()).PadLeft(8, '0')); //task2 = taskservice.FindEntity(x => x.S_TASK_NO == tno); //if (task2 != null && task2.S_B_STATE != "完成") task2Isrun = true; //if (tag.RGV.bit2taskOver_LAST == 1) // RedisHelper.Add($"RGV.bit2taskOver_LAST", "0", out string msg); } if (task1Isrun || task2Isrun) { string mes = ""; if (task1Isrun) mes += tag.RGV.ReadTask1No + "执行中..."; if (task2Isrun) mes += tag.RGV.ReadTask2No + "执行中..."; LogHelper.Info($"{mes} 不能下发新任务。"); System.Threading.Thread.Sleep(3000); return; } var thisOver = 0; LogHelper.Info($"查看RGV 1工位任务》"); if (tag.RGV.ReadTask1No > 0 && tag.RGV.bit1taskOver == 1) { var taskno = tag.RGV.ReadTask1No; LogHelper.Info($"RGV 1工位任务{tag.RGV.ReadTask1No}"); string tno = "TN" + (DateTime.Now.ToString("yy")) + ((taskno.ToString()).PadLeft(8, '0')); task1 = taskservice.FindEntity(x => x.S_TASK_NO == tno); LogHelper.Info($"RGV 1工位任务{task1?.S_TASK_NO}.bit1taskOver_LAST：{tag.RGV.bit1taskOver_LAST}"); if (tag.RGV.bit1taskOver_LAST == 0 && task1 != null) { if (task1.S_B_STATE != "完成") { thisOver = 1; if (task1.S_B_STATE == "取货完成") { task1.S_B_STATE = "完成"; tag.RGV.ReadTask1No = 0; } else { task1.S_B_STATE = "取货完成"; } //tag.RGV.bit1taskOver = 0; LogHelper.Info($"RGV 1工位任务{task1.S_TASK_NO} 条码：{tag.RGV.bit1Code} 状态切换为{task1.S_B_STATE}"); //tag.RGV.bit1taskOver_LAST = 1; RedisHelper.Add($"RGV.bit1taskOver_LAST", "1", out string msg); LogHelper.Info($"RGV 1工位任务写处理"); taskservice.Update(task1); LogHelper.Info($"RGV 1工位任务更新。"); } else { LogHelper.Info("RGV1工位任务已经完成。"); } } } else if (tag.RGV.ReadTask1No == 0) { LogHelper.Info($"RGV 1工位没有任务》"); } LogHelper.Info($"查看RGV 2工位任务》"); if (tag.RGV.ReadTask2No > 0 && tag.RGV.bit2taskOver == 1) { var taskno = tag.RGV.ReadTask2No; LogHelper.Info($"RGV 2工位任务{tag.RGV.ReadTask2No}"); string tno = "TN" + (DateTime.Now.ToString("yy")) + ((taskno.ToString()).PadLeft(8, '0')); task2 = taskservice.FindEntity(x => x.S_TASK_NO == tno); LogHelper.Info($"RGV2工位任务{task2?.S_TASK_NO}.bit2taskOver_LAST：{tag.RGV.bit2taskOver_LAST}"); if (tag.RGV.bit2taskOver_LAST == 0 && task2 != null) { if (task2.S_B_STATE != "完成") { thisOver = 2; if (task2.S_B_STATE == "取货完成") { task2.S_B_STATE = "完成"; tag.RGV.ReadTask2No = 0; } else { task2.S_B_STATE = "取货完成"; } //tag.RGV.bit2taskOver = 0; LogHelper.Info($"RGV 2工位任务{task2.S_TASK_NO} 条码：{tag.RGV.bit2Code} 状态切换为{task2.S_B_STATE}"); RedisHelper.Add($"RGV.bit2taskOver_LAST", "1", out string msg); LogHelper.Info($"RGV 2工位任务写处理"); taskservice.Update(task2); LogHelper.Info($"RGV 2工位任务更新。"); } else { LogHelper.Info("RGV2工位任务已经完成。"); } } } else if (tag.RGV.ReadTask2No == 0) { LogHelper.Info($"RGV 2工位没有任务》"); } //if (thisOver > 0) //{ // var v2 = RedisHelper.Get("RGVQueue", out string rev); // if (v2 != null) // { // LogHelper.Info($"RGVQueue 读到结果-{JsonConvert.SerializeObject(v2)} \n 下发前进行清除。"); // var b = RedisHelper.Remove("RGVQueue", out rev); // } //} var tklistall = taskservice.FindList(x => x.S_B_STATE != "完成" && x.S_B_STATE != "取消" && x.S_WORK_MODE == "RGV").OrderBy(x => x.T_CREATE).ToList(); var tklist = tklistall.FindAll(x => x.S_B_STATE == "未执行"); var tkunNormal = tklistall.Except(tklist); if (tkunNormal.Any()) foreach (var tk in tkunNormal) { if (tk.S_TASK_NO != task1?.S_TASK_NO && tk.S_TASK_NO != task2?.S_TASK_NO) { tk.S_B_STATE = "取消"; tk.S_NOTE = "不在执行队列中,取消"; taskservice.Update(tk); } } ///1 有货 就2 取。 1 没货 就2 卸货， 都有货 就1卸货。 都没货 就1卸 // taskservice.FindList(x => x.S_B_STATE == "未执行" && x.S_WORK_MODE == "RGV").OrderBy(x => x.T_CREATE).ToList(); if (task1 != null && task1.S_B_STATE != "完成") //1有任务 { if (task2 != null && task2.S_B_STATE != "完成")// 1 有任务 2 有任务。 { LogHelper.Info($"查看RGV1 有任务{task1.S_TASK_NO},工位2 也有任务{task2.S_TASK_NO}。 开始工位1 卸货。"); tag.RGV.workMod = 1; tag.RGV.taskmod = 2; tag.RGV.taskno1 = Convert.ToUInt32(task1.S_TASK_NO.Substring(4)); tag.RGV.task1do = Convert.ToUInt16(task1.S_END_LOC); //RedisHelper.Add($"RGV.bit1taskOver_LAST", "0", out string msg); //tag.RGV.taskend = 125; //Conn.默认Redis.SetValue("RGV.taskend", "125", "RGVQueue"); if (tag.RGV.bit1taskOver == 1) tag.RGV.bit1taskOver = 0; LogHelper.Info($"{task1.S_TASK_NO}> end 写 125"); Conn.默认Redis.SetValue("RGV.taskend", "125", "RGVQueue", false); LogHelper.Info($"{task1.S_TASK_NO}> bit1taskOver_LAST 写 0"); RedisHelper.Add($"RGV.bit1taskOver_LAST", "0", out string msg); } else //1有任务 2 没任务。 { LogHelper.Info($"查看RGV1 有任务{task1.S_TASK_NO},工位2 没任务。 找同侧取货任务。"); var leftSide = new List { "1023", "1020" }; var RightSide = new List { "1002", "1008", "1010", "1016" }; bool creT2 = false; // 2号 优先给 1020 1008 1016 var t2 = tklist.OrderBy(x => x.T_CREATE).ToList().Find(x => x.S_START_LOC == "1020" || x.S_START_LOC == "1008" || x.S_START_LOC == "1016"); if (t2 != null) { LogHelper.Info($"查看RGV1 有任务{task1.S_TASK_NO},工位2 没任务。 找1020 1008 1016取货任务{t2.S_TASK_NO}。"); tag.RGV.workMod = 2; LogHelper.Info($"{t2.S_TASK_NO}> workMod 2 《2工位》"); tag.RGV.taskmod = 1; LogHelper.Info($"{t2.S_TASK_NO}> taskmod 1 《取货》"); tag.RGV.taskno2 = Convert.ToUInt32(t2.S_TASK_NO.Substring(4)); tag.RGV.task2do = Convert.ToUInt16(t2.S_START_LOC); if (tag.RGV.bit2taskOver == 1) tag.RGV.bit2taskOver = 0; LogHelper.Info($"{t2.S_TASK_NO}> end 写 125"); Conn.默认Redis.SetValue("RGV.taskend", "125", "RGVQueue", false); LogHelper.Info($"{t2.S_TASK_NO}> bit2taskOver_LAST 写 0"); RedisHelper.Add($"RGV.bit2taskOver_LAST", "0", out string msg); t2.S_B_STATE = "已推送"; taskservice.Update(t2); } ////2 如果有同侧取货任务。就取。没有 //else if (leftSide.Contains(task1.S_START_LOC)) //{ // leftSide.Remove(task1.S_START_LOC); // var lsde = leftSide.FirstOrDefault(); // t2 = tklist.Find(x => x.S_START_LOC == lsde && x.S_END_LOC != "1017"); // if (t2 != null) //同侧取货任务。 // { // LogHelper.Info($"查看RGV1 有任务{task1.S_TASK_NO},工位2 没任务。 找同侧取货任务{t2.S_TASK_NO}。"); // tag.RGV.workMod = 2; // tag.RGV.taskmod = 1; // tag.RGV.taskno2 = Convert.ToUInt32(t2.S_TASK_NO.Substring(4)); // tag.RGV.task2do = Convert.ToUInt16(t2.S_START_LOC); // t2.S_B_STATE = "已推送"; // taskservice.Update(t2); // creT2 = true; // System.Threading.Thread.Sleep(750); // LogHelper.Info($"{t2.S_TASK_NO}> bit2taskOver_LAST 写 0"); // RedisHelper.Add($"RGV.bit2taskOver_LAST", "0", out string msg); // LogHelper.Info($"{t2.S_TASK_NO}> end 写 125"); // Conn.默认Redis.SetValue("RGV.taskend", "125", "RGVQueue", false); // } //} //else if (RightSide.Contains(task1.S_START_LOC)) //{ // RightSide.Remove(task1.S_START_LOC); // t2 = tklist.Find(x => RightSide.Contains(x.S_START_LOC) && x.S_END_LOC != "1017"); // if (t2 != null) //同侧取货任务。 // { // LogHelper.Info($"查看RGV1 有任务{task1.S_TASK_NO},工位2 没任务。 找同侧 1002,1010 取货任务{t2.S_TASK_NO}。"); // tag.RGV.workMod = 2; // tag.RGV.taskmod = 1; // tag.RGV.taskno2 = Convert.ToUInt32(t2.S_TASK_NO.Substring(4)); // tag.RGV.task2do = Convert.ToUInt16(t2.S_START_LOC); // t2.S_B_STATE = "已推送"; // taskservice.Update(t2); // creT2 = true; // System.Threading.Thread.Sleep(750); // LogHelper.Info($"{t2.S_TASK_NO}> bit2taskOver_LAST 写 125"); // RedisHelper.Add($"RGV.bit2taskOver_LAST", "0", out string msg); // LogHelper.Info($"{t2.S_TASK_NO}> end 写 125"); // Conn.默认Redis.SetValue("RGV.taskend", "125", "RGVQueue", false); // } //} else //1 直接卸货。 //if (!creT2) { LogHelper.Info($"查看RGV1 有任务{task1.S_TASK_NO},工位2 没任务。 没有同侧取货任务 1工位卸货。"); tag.RGV.workMod = 1; LogHelper.Info($"{task1.S_TASK_NO}> workMod 1 《1工位》"); tag.RGV.taskmod = 2; LogHelper.Info($"{task1.S_TASK_NO}> taskmod 2 《卸货》"); tag.RGV.taskno1 = Convert.ToUInt32(task1.S_TASK_NO.Substring(4)); tag.RGV.task1do = Convert.ToUInt16(task1.S_END_LOC); if (tag.RGV.bit1taskOver == 1) tag.RGV.bit1taskOver = 0; LogHelper.Info($"{task1.S_TASK_NO}> taskend 写 125"); Conn.默认Redis.SetValue("RGV.taskend", "125", "RGVQueue", false); LogHelper.Info($"{task1.S_TASK_NO}> bit1taskOver_LAST 写 0"); RedisHelper.Add($"RGV.bit1taskOver_LAST", "0", out string msg); } } } else { if (task2 != null && task2.S_B_STATE != "完成")// 1 没任务 2 有任务。 { LogHelper.Info($"查看RGV 1工位没任务,工位2 有任务{task2.S_TASK_NO}。工位2卸货。。"); //2 卸货。 tag.RGV.workMod = 2; LogHelper.Info($"{task2.S_TASK_NO}> workMod 2 《2工位》"); tag.RGV.taskmod = 2; LogHelper.Info($"{task2.S_TASK_NO}> taskmod 2 《卸货》"); tag.RGV.taskno2 = Convert.ToUInt32(task2.S_TASK_NO.Substring(4)); tag.RGV.task2do = Convert.ToUInt16(task2.S_END_LOC); if (tag.RGV.bit2taskOver == 1) tag.RGV.bit2taskOver = 0; //tag.RGV.taskend = 125; LogHelper.Info($"{task2.S_TASK_NO}> taskend 写125"); Conn.默认Redis.SetValue("RGV.taskend", "125", "RGVQueue", false); LogHelper.Info($"{task2.S_TASK_NO}> bit2taskOver_LAST 写 0"); RedisHelper.Add($"RGV.bit2taskOver_LAST", "0", out string msg); } else if (tklist.Any()) //1mei 任务 2 没任务。 { LogHelper.Info($"查看RGV 1工位没任务,工位2 也没任务。优先1工位终点1017任务。。"); //、下 1017任务 给1号工位。 //var lss = tklist.Take(2).ToList(); var e1017first = tklist.Find(x => x.S_START_LOC == "1002" || x.S_START_LOC == "1010" || x.S_START_LOC == "1023"); //if (e1017first != null) //{ // e1017first = tklist.FirstOrDefault(); //} if (e1017first != null) { LogHelper.Info($"查看RGV没任务， 给工位1筛选任务。 1002 1010 1023取货任务{e1017first.S_TASK_NO}。"); tag.RGV.workMod = 1; LogHelper.Info($"{e1017first.S_TASK_NO}> workMod 1 《1工位》"); tag.RGV.taskmod = 1; LogHelper.Info($"{e1017first.S_TASK_NO}> taskmod 1 《取货》"); uint tno = Convert.ToUInt32(e1017first.S_TASK_NO.Substring(4)); LogHelper.Info($"{e1017first.S_TASK_NO}> 转换后任务号{tno} 开始写入。"); tag.RGV.taskno1 = tno; LogHelper.Info($"{e1017first.S_TASK_NO}>开始写入 task1do>>{e1017first.S_START_LOC}。"); tag.RGV.task1do = Convert.ToUInt16(e1017first.S_START_LOC); //tag.RGV.taskend=125 if (tag.RGV.bit1taskOver == 1) tag.RGV.bit1taskOver = 0; LogHelper.Info($"{e1017first.S_TASK_NO}> taskend 写125"); Conn.默认Redis.SetValue("RGV.taskend", "125", "RGVQueue", false); LogHelper.Info($"{e1017first.S_TASK_NO}> bit1taskOver_LAST 写0"); RedisHelper.Add($"RGV.bit1taskOver_LAST", "0", out string msg); LogHelper.Info($"{e1017first.S_TASK_NO}> 更新任务。"); e1017first.S_B_STATE = "已推送"; taskservice.Update(e1017first); } else { var t2 = tklist.OrderBy(x => x.T_CREATE).ToList().Find(x => x.S_START_LOC == "1020" || x.S_START_LOC == "1008" || x.S_START_LOC == "1016"); if (tklist != null) { LogHelper.Info($"查看RGV没任务 给工位2筛选任务。 找1020 1008 1016取货任务{t2.S_TASK_NO}。"); tag.RGV.workMod = 2; LogHelper.Info($"{t2.S_TASK_NO}> workMod 2 《2工位》"); tag.RGV.taskmod = 1; LogHelper.Info($"{t2.S_TASK_NO}> taskmod 1 《取货》"); tag.RGV.taskno2 = Convert.ToUInt32(t2.S_TASK_NO.Substring(4)); LogHelper.Info($"{t2.S_TASK_NO}> taskno2 {Convert.ToUInt32(t2.S_TASK_NO.Substring(4))}《任务号》"); tag.RGV.task2do = Convert.ToUInt16(t2.S_START_LOC); if (tag.RGV.bit2taskOver == 1) tag.RGV.bit2taskOver = 0; LogHelper.Info($"{t2.S_TASK_NO}> end 写 125"); Conn.默认Redis.SetValue("RGV.taskend", "125", "RGVQueue", false); LogHelper.Info($"{t2.S_TASK_NO}> bit2taskOver_LAST 写 0"); RedisHelper.Add($"RGV.bit2taskOver_LAST", "0", out string msg); t2.S_B_STATE = "已推送"; taskservice.Update(t2); } } } } LogHelper.Info($"rgv 处理完成。taskend 125"); #endregion } catch (Exception ex) { LogHelper.Info(ex.Message + ex.StackTrace); } } public void ThreadGrats(Tag tag, Action continueTask) { LogHelper.Info($"ThreadGrats 光栅处理 =================> "); var taskCOdes = new List { "Sarrive", "Srelease", "Earrive", "Erelease" }; TaskActRepository taskActRepository = new TaskActRepository(); TaskRepository taskRepository = new TaskRepository(); var requires1 = taskActRepository.FindList(x => taskCOdes.Contains(x.S_ACTION_CODE) && x.N_CREATEMETHOD == 0).OrderBy(x => x.T_CREATE).ToList(); var timeMorhours = requires1.FindAll(x => DateTime.Now.Subtract(x.T_CREATE).TotalHours > 1); if (timeMorhours.Any()) { foreach (var mor in timeMorhours) { mor.N_CREATEMETHOD = 2; mor.S_REVIEW_COMMENT = "超时不处理"; taskActRepository.Update(mor); } requires1 = requires1.Except(timeMorhours).ToList(); } foreach (var requires in requires1.GroupBy(x => x.S_TASK_NO)) //foreach (var item in requires) { var rsss = requires.ToList(); var item = rsss.OrderBy(x => x.S_ACTION_CODE.Contains("release") ? 0 : 1).LastOrDefault(); if (rsss.Count > 1) { rsss.Remove(item); foreach (var mor in rsss) { mor.N_CREATEMETHOD = 3; mor.S_REVIEW_COMMENT = "多余不处理"; taskActRepository.Update(mor); } } LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE}光栅处理 =================> "); var tin = taskCOdes.IndexOf(item.S_ACTION_CODE); if (tin == -1) { item.N_CREATEMETHOD = -1; item.S_REVIEW_COMMENT = $"信号未知{item.S_ACTION_CODE}不处理"; taskActRepository.Update(item); continue; } var task = taskRepository.FindEntity(x => x.S_TASK_NO == item.S_TASK_NO); if (task == null) { item.N_CREATEMETHOD = -1; item.S_REVIEW_COMMENT = $"任务丢失不处理"; taskActRepository.Update(item); continue; } string loc = ""; if (tin < 2) { loc = item.S_START_LOC; } else { loc = item.S_END_LOC; } if (loc == null) continue; else loc = loc.Trim(); bool goin = tin % 2 == 0; bool continuuuuu = false; var dev = Settings.deviceInfos.Find(x => x.location.Contains(loc)); if (dev != null) { LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} 光栅处理 =================> "); var V = dev.location.ToList().FindIndex(x => x == loc) == 0; //车走了 开光栅 if (!goin) { if (dev.deviceType == 4) { LogHelper.Info($"车离开输送线交互> {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} SSX AGV 交互。。。"); switch (loc) { case "1019": { SetRedistoPlc("A1019取货交互.SOver", "true", "A1019取货交互Queue", "agv 取货完成写完成交互"); } break; case "1030": { SetRedistoPlc("A1030取货交互.SOver", "true", "A1030取货交互Queue", "agv 取货完成写完成交互"); } break; case "2030": { SetRedistoPlc("A2030取货交互.SOver", "true", "A2030取货交互Queue", "agv 取货完成写完成交互"); } break; case "3005": { SetRedistoPlc("A3005取货交互.SOver", "true", "A3005取货交互Queue", "agv 取货完成写完成交互"); } break; case "3010": { SetRedistoPlc("A3010取货交互.SOver", "true", "A3010取货交互Queue", "agv 取货完成写完成交互"); } break; //} //switch (loc) //{ case "1022": { SetRedistoPlc("A1022放货交互.SOver", "true", "A1022放货交互Queue", "agv 放货完成写完成交互"); } break; case "1025": { SetRedistoPlc("A1025放货交互.SOver", "true", "A1025放货交互Queue", "agv 放货完成写完成交互"); } break; case "2001": { SetRedistoPlc("A2001放货交互.SOver", "true", "A2001放货交互Queue", "agv 放货完成写完成交互"); tag.SA2001.wTaskNo = 20012007; tag.SA2001.wEbit = 2007; tag.SA2001.w托盘码 = TaskProcess.GenerateTaskNo("虚拟托盘号").Substring(3); } break; case "3001": { SetRedistoPlc("A3001放货交互.SOver", "true", "A3001放货交互Queue", "agv 放货完成写完成交互"); } break; case "3006": { SetRedistoPlc("A3006放货交互.SOver", "true", "A3006放货交互Queue", "agv 放货完成写完成交互"); } break; } } else { if (dev.deviceType == 1) { LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} 开启光栅处理 =================> "); LogHelper.Info($"{dev.deviceName}{(V ? "左" : "右")} 光栅{(goin ? "关闭" : "开启")} 申请。" + string.Format("{0}{1}{2}", dev.deviceName + "." + (V ? "R02" : "R04"), "true", dev.deviceName + "Queue")); Conn.默认Redis.SetValue(dev.deviceName + "." + (V ? "R02" : "R04"), "true", dev.deviceName + "Queue", false); } else if (dev.deviceType == 2) { LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} 开启光栅处理 =================> "); LogHelper.Info($"{dev.deviceName}{(V ? "左" : "右")} 光栅{(goin ? "关闭" : "开启")} 申请。" + string.Format("{0}{1}{2}", dev.deviceName + "." + (V ? "D1222" : "D1223"), "1", dev.deviceName + "Queue")); Conn.默认Redis.SetValue(dev.deviceName + "." + (V ? "D1220" : "D1221"), "0", dev.deviceName + "Queue"); Conn.默认Redis.SetValue(dev.deviceName + "." + (V ? "D1222" : "D1223"), "1", dev.deviceName + "Queue"); } else if (dev.deviceType == 5) { LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} 开启光栅处理 =================> "); Conn.默认Redis.SetValue(dev.deviceName + "." + (V ? "D2211" : "D2216"), "1", dev.deviceName + "Queue"); Conn.默认Redis.SetValue(dev.deviceName + "." + (V ? "D2212" : "D2217"), "0", dev.deviceName + "Queue"); } LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} 开启光栅处理完成 =================> "); } item.N_CREATEMETHOD = 1; item.S_REVIEW_COMMENT = $"光栅开启完成"; taskActRepository.Update(item); } //车要进入交互。 else { if (dev.deviceType == 4) { LogHelper.Info($"车请求输送线交互> {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} SSX AGV 交互。。。"); //tag.SA1019.Sagverr switch (loc) { case "1019": { if (tag.SA1019.SreadCan) { LogHelper.Info($"1019 读到输送线允许。"); continuuuuu = true; } else { SetRedistoPlc("A1019取货交互.Ssetreq", "true", "A1019取货交互Queue", "写AGV申请"); tag.SA1019.StaskMode = 1; } } break; case "1030": { if (tag.SA1030.SreadCan) { LogHelper.Info($"1030 读到输送线允许。"); continuuuuu = true; } else { SetRedistoPlc("A1030取货交互.Ssetreq", "true", "A1030取货交互Queue", "写AGV申请"); tag.SA1030.StaskMode = 1; } } break; case "2030": { if (tag.SA2030.SreadCan) { LogHelper.Info($"2030 读到输送线允许。"); continuuuuu = true; } else { SetRedistoPlc("A2030取货交互.Ssetreq", "true", "A2030取货交互Queue", "写AGV申请"); tag.SA2030.StaskMode = 1; } } break; case "3005": { if (tag.ssx输送线.s3005.SreadCan) { LogHelper.Info($"3005 读到输送线允许。"); continuuuuu = true; } else { SetRedistoPlc("A3005取货交互.Ssetreq", "true", "A3005取货交互Queue", "写AGV申请"); tag.ssx输送线.s3005.StaskMode = 1; } } break; case "3010": { if (tag.ssx输送线.s3010.SreadCan) { LogHelper.Info($"3010 读到输送线允许。"); continuuuuu = true; } else { SetRedistoPlc("A3010取货交互.Ssetreq", "true", "A3010取货交互Queue", "写AGV申请"); tag.ssx输送线.s3010.StaskMode = 1; } } break; //} //switch (loc) //{ case "1022": { if (tag.SA1022.SreadCan) { LogHelper.Info($"1022 读到输送线允许。"); continuuuuu = true; } else { SetRedistoPlc("A1022放货交互.Ssetreq", "true", "A1022放货交互Queue", "写AGV申请"); tag.SA1022.StaskMode = 2; } } break; case "1025": { if (tag.SA1025.SreadCan) { LogHelper.Info($"1025 读到输送线允许。"); continuuuuu = true; } else { SetRedistoPlc("A1025放货交互.Ssetreq", "true", "A1025放货交互Queue", "写AGV申请"); tag.SA1025.StaskMode = 2; } } break; case "2001": { if (tag.SA2001.SreadCan) { LogHelper.Info($"2001 读到输送线允许。"); continuuuuu = true; } else { SetRedistoPlc("A2001放货交互.Ssetreq", "true", "A2001放货交互Queue", "写AGV申请"); tag.SA2001.StaskMode = 2; } } break; case "3001": { if (tag.ssx输送线.s3001.SreadCan) { LogHelper.Info($"3001 读到输送线允许。"); continuuuuu = true; } else { SetRedistoPlc("A3001放货交互.Ssetreq", "true", "A3001放货交互Queue", "写AGV申请"); tag.ssx输送线.s3001.StaskMode = 2; } } break; case "3006": { if (tag.ssx输送线.s3006.SreadCan) { LogHelper.Info($"3006 读到输送线允许。"); continuuuuu = true; } else { SetRedistoPlc("A3006放货交互.Ssetreq", "true", "A3006放货交互Queue", "写AGV申请"); tag.ssx输送线.s3006.StaskMode = 2; } } break; } } else { LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} 关闭光栅处理 =================> "); if (dev.deviceType == 1) { var tf = Conn.默认Redis.GetValue(dev.deviceName + "." + (V ? "R50" : "R52"));//读关闭状态 LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} 光栅关闭信号{tf}"); if (tf?.ToLower() == "true") { LogHelper.Info($"{dev.deviceName}{(V ? "左" : "右")} 光栅{(goin ? "关闭" : "开启")} 申请。 已经关闭！"); continuuuuu = true; } else { LogHelper.Info($"{dev.deviceName}{(V ? "左" : "右")} 光栅{(goin ? "关闭" : "开启")} 申请。" + string.Format("{0}{1}{2}", dev.deviceName + "." + (V ? "R01" : "R03"), "true", dev.deviceName + "Queue")); Conn.默认Redis.SetValue(dev.deviceName + "." + (V ? "R01" : "R03"), "true", dev.deviceName + "Queue", false); } } else if (dev.deviceType == 2) { var tf = Conn.默认Redis.GetValue(dev.deviceName + ".D1202"); int numm = int.Parse(string.IsNullOrEmpty(tf) ? "0" : tf); int close = TcpServer.GetBitdata(numm, (V ? 0 : 1)); LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} 光栅关闭信号{close}"); if (close == 1) { LogHelper.Info($"{dev.deviceName}{(V ? "左" : "右")} 光栅{(goin ? "关闭" : "开启")} 申请。 已经关闭！"); continuuuuu = true; } else { LogHelper.Info($"{dev.deviceName}{(V ? "左" : "右")} 光栅{(goin ? "关闭" : "开启")} 申请。" + string.Format("{0}{1}{2}", dev.deviceName + "." + (V ? "D1220" : "D1221"), "1", dev.deviceName + "Queue")); Conn.默认Redis.SetValue(dev.deviceName + "." + (V ? "D1222" : "D1223"), "0", dev.deviceName + "Queue"); Conn.默认Redis.SetValue(dev.deviceName + "." + (V ? "D1220" : "D1221"), "1", dev.deviceName + "Queue"); string d12201 = RedisHelper.Get(dev.deviceName + "." + (V ? "D1220" : "D1221"), out string msg); LogHelper.Info($"ThreadGrats 写{(dev.deviceName + "." + (V ? "D1220" : "D1221"))}为 1 ， 后读{d12201}"); } } else if (dev.deviceType == 5) { var close = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue(dev.deviceName + "." + (V ? "D2220" : "D2225")), typeof(System.UInt16)); if (close == 0) { LogHelper.Info($"{dev.deviceName}{(V ? "左" : "右")} 光栅{(goin ? "关闭" : "开启")} 申请。 已经关闭！"); continuuuuu = true; } else { Conn.默认Redis.SetValue(dev.deviceName + "." + (V ? "D2212" : "D2217"), "1", dev.deviceName + "Queue"); Conn.默认Redis.SetValue(dev.deviceName + "." + (V ? "D2211" : "D2216"), "0", dev.deviceName + "Queue"); } } LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} 关闭光栅处理完成 =================> "); } } } if (continuuuuu) { LogHelper.Info($"{item.S_TASK_NO}{item.S_ACTION_CODE} 车辆发送继续任务！"); continueTask?.Invoke(new HaiKangOrderInfo { reqCode = item.S_ID.Replace("-", ""), taskCode = item.S_TASK_NO }); item.N_CREATEMETHOD = 1; item.S_REVIEW_COMMENT = $"车子继续任务OK"; taskActRepository.Update(item); } } System.Threading.Thread.Sleep(3000); //ResetGats(tag); } public void ResetGats(Tag tag) { LogHelper.Info($"ThreadGrats deviceType2光栅写入位重置 =================> "); //重置信号 foreach (var dev in Settings.deviceInfos.FindAll(x => x.deviceType == 2)) { var tf = Conn.默认Redis.GetValue(dev.deviceName + ".D1202"); int numm = int.Parse(string.IsNullOrEmpty(tf) ? "0" : tf); //int int0 = TcpServer.GetBitdata(numm, 0); //int int1 = TcpServer.GetBitdata(numm, 1); //if (TcpServer.GetBitdata(numm, 0) == 0) //{ // Conn.默认Redis.SetValue(dev.deviceName + ".D1220", "0", dev.deviceName + "Queue", false); // Conn.默认Redis.SetValue(dev.deviceName + ".D1222", "0", dev.deviceName + "Queue", false); //} //if (TcpServer.GetBitdata(numm, 1) == 0) //{ // Conn.默认Redis.SetValue(dev.deviceName + ".D1221", "0", dev.deviceName + "Queue", false); // Conn.默认Redis.SetValue(dev.deviceName + ".D1223", "0", dev.deviceName + "Queue", false); //} if (TcpServer.GetBitdata(numm, 2) == 0) { //Conn.默认Redis.GetValue(dev.deviceName + ".D1224"); Conn.默认Redis.SetValue(dev.deviceName + ".D1224", "0", dev.deviceName + "Queue", false); } if (TcpServer.GetBitdata(numm, 3) == 0) { Conn.默认Redis.SetValue(dev.deviceName + ".D1225", "0", dev.deviceName + "Queue", false); } } LogHelper.Info($"ThreadGrats deviceType2光栅写入位重置完成。 =================> "); LogHelper.Info($"ThreadGrats deviceType5光栅写入位重置 =================> "); //重置信号 //foreach (var dev in Settings.deviceInfos.FindAll(x => x.deviceType == 5)) { //一线地址：10.221.55.181 端口：6000 //if (IsMachineOnline("10.221.55.181")) { if (tag.DZ1.D2211 == 1 && tag.DZ1.D2220 == 1) //tag.DZ1.D2211 = 0; Conn.默认Redis.SetValue("D定子1号机械手.D2211", "0", "D定子1号机械手Queue", false); if (tag.DZ1.D2216 == 1 && tag.DZ1.D2225 == 1) //tag.DZ1.D2216 = 0; Conn.默认Redis.SetValue("D定子1号机械手.D2216", "0", "D定子1号机械手Queue", false); } //二线地址：10.221.55.179 端口：6000 //if (IsMachineOnline("10.221.55.179")) { if (tag.DZ2.D2211 == 1 && tag.DZ2.D2220 == 1) //tag.DZ2.D2211 = 0; Conn.默认Redis.SetValue("D定子2号机械手.D2211", "0", "D定子2号机械手Queue", false); if (tag.DZ2.D2216 == 1 && tag.DZ2.D2225 == 1) //tag.DZ2.D2216 = 0; Conn.默认Redis.SetValue("D定子2号机械手.D2216", "0", "D定子2号机械手Queue", false); } } LogHelper.Info($"ThreadGrats deviceType5光栅写入位重置完成。 =================> "); } /// /// 1020 1023空框下线 /// /// public void ThreadEdown(Tag tag) { Console.WriteLine($"ThreadEdown 20 23 = 空下检测 =================> "); if (tag.RGV.R充电状态 == 1 || tag.RGV.R手动1自动2 == 1 || tag.RGV.RgvrunError > 0) { LogHelper.Info($"RGV 手动||故障||充电，空下检测终止。"); return; } TaskRepository taskRepository = new TaskRepository(); foreach (var Bssx in new string[] { "1020", "1023" }) { var RtaskState = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{Bssx}Read.RtaskState"), typeof(System.UInt16)); var RtaskState_LAST = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{Bssx}Read.RtaskState_LAST"), typeof(System.UInt16)); var R托盘码 = (System.String)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{Bssx}Read.R托盘码"), typeof(System.String)); Console.WriteLine($"{Bssx} 空下检测：任务申请：{RtaskState}- 是否已处理：{RtaskState_LAST}- 托盘码：{R托盘码} "); if (RtaskState == 3 && RtaskState_LAST == 0) { var task = taskRepository.FindEntity(x => x.S_START_LOC == Bssx && x.S_B_STATE != "完成" && x.S_B_STATE != "取消"); string msg = ""; if (task != null) { Console.WriteLine($"{Bssx} 有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务"); LogHelper.Info($"{Bssx} 有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务"); continue; } try { var listtep = new List(); if (Bssx == "1020") { if (!string.IsNullOrEmpty(tag.SFT下料口托盘.R1003Barcode) && string.IsNullOrEmpty(tag.SFT下料口托盘.R1011Barcode)) { listtep = new List { "1012", "1004" }; } else { listtep = new List { "1004", "1012" }; } } else { //if (tag.SF下料位.RArrive1005 == 1) if (!string.IsNullOrEmpty(tag.SFT下料口托盘.R1005Barcode) && string.IsNullOrEmpty(tag.SFT下料口托盘.R1013Barcode)) { listtep = new List { "1014", "1006" }; } else { listtep = new List { "1006", "1014" }; } } foreach (var item in listtep)//(Bssx == "1020" ? new string[] { "1004", "1012" } : new string[] { "1006", "1014" })) { var R5 = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{item}Read.R5空闲"), typeof(System.UInt16)); var R5空闲_LAST = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{item}Read.R5空闲_LAST"), typeof(System.UInt16)); if (R5 == 5 && R5空闲_LAST == 0 && task == null) { task = taskRepository.FindEntity(x => x.S_END_LOC == item && x.S_B_STATE != "完成" && x.S_B_STATE != "取消"); msg = ""; if (task != null) { Console.WriteLine($" {item}有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务"); LogHelper.Info($" {item}有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务"); continue; } var b = TaskProcess.CreateTask("", Bssx, item, "空上RGV", 5, new List { R托盘码 }, "RGV"); if (b) { LogHelper.Debug($"输送线RGV空托任务 from:{Bssx}>to {item}开始创建成功"); RedisHelper.Add($"S{Bssx}Read.RtaskState_LAST", "1", out msg); //Conn.默认Redis.SetValue($"S{Bssx}Read.RtaskState_LAST", "1", $"S{Bssx}ReadQueue"); RedisHelper.Add($"S{item}Read.R5空闲_LAST", "1", out msg); //Conn.默认Redis.SetValue($"S{item}Read.R5空闲_LAST", "1", $"S{item}ReadQueue"); break; } } else if (R5 != 5 && R5空闲_LAST == 1) { RedisHelper.Add($"S{item}Read.R5空闲_LAST", "0", out msg); //Conn.默认Redis.SetValue($"S{item}Read.R5空闲_LAST", "0", $"S{item}ReadQueue"); } } System.Threading.Thread.Sleep(1000); } catch (Exception ex) { LogHelper.Error(ex.Message, ex); Console.WriteLine(ex.Message + ex.StackTrace); } } else if (RtaskState != 3 && RtaskState_LAST == 1) { RedisHelper.Add($"S{Bssx}Read.RtaskState_LAST", "0", out string msg); //Conn.默认Redis.SetValue($"S{Bssx}Read.RtaskState_LAST", "0", $"S{Bssx}ReadQueue"); } System.Threading.Thread.Sleep(2000); } foreach (var item in new string[] { "1004", "1012", "1006", "1014", "1026", "1017" }) { var R5 = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{item}Read.R5空闲"), typeof(System.UInt16)); var R5空闲_LAST = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{item}Read.R5空闲_LAST"), typeof(System.UInt16)); if (R5 != 5 && R5空闲_LAST == 1) { RedisHelper.Add($"S{item}Read.R5空闲_LAST", "0", out string msg); //Conn.默认Redis.SetValue($"S{item}Read.R5空闲_LAST", "0", $"S{item}ReadQueue"); } } } public void ThreadDdown(Tag tag) { Console.WriteLine($"ThreadDdown 08 16==================> 1026"); if (tag.RGV.R充电状态 == 1 || tag.RGV.R手动1自动2 == 1 || tag.RGV.RgvrunError > 0) { LogHelper.Info($"RGV 手动||故障||充电，08 16 > 1026终止。"); return; } TaskRepository taskRepository = new TaskRepository(); foreach (var Bssx in new string[] { "1008", "1016" }) { var RtaskState = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{Bssx}Read.RtaskState"), typeof(System.UInt16)); var RtaskState_LAST = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{Bssx}Read.RtaskState_LAST"), typeof(System.UInt16)); var R托盘码 = (System.String)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{Bssx}Read.R托盘码"), typeof(System.String)); Console.WriteLine($"{Bssx} 满下检测：任务申请：{RtaskState}- 是否已处理：{RtaskState_LAST}- 托盘码：{R托盘码}"); if (RtaskState == 3 && RtaskState_LAST == 0) { var task = taskRepository.FindEntity(x => x.S_START_LOC == Bssx && x.S_B_STATE != "完成" && x.S_B_STATE != "取消"); string msg = ""; if (task != null) { Console.WriteLine($"{Bssx} 有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务"); LogHelper.Info($"{Bssx} 有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务"); continue; } var item = "1026"; var R5 = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{item}Read.R5空闲"), typeof(System.UInt16)); var R5空闲_LAST = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{item}Read.R5空闲_LAST"), typeof(System.UInt16)); if (R5 == 5 && R5空闲_LAST == 0) { task = taskRepository.FindEntity(x => x.S_END_LOC == item && x.S_B_STATE != "完成" && x.S_B_STATE != "取消"); msg = ""; if (task != null) { Console.WriteLine($"{item} 有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务"); LogHelper.Info($"{item} 有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务"); continue; } var b = TaskProcess.CreateTask("", Bssx, item, "满转1026", 5, new List { R托盘码 }, "RGV"); if (b) { RedisHelper.Add($"S{Bssx}Read.RtaskState_LAST", "1", out msg); RedisHelper.Add($"S{item}Read.R5空闲_LAST", "1", out string msg2); LogHelper.Info($"{R托盘码} 定子生产完成进行鲍工！！"); var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/223", JsonConvert.SerializeObject(new { cntrCode = R托盘码, type = 1, lineCode = "1002,1008".Contains(Bssx) ? "T01" : "T02" })); //var strr = JsonConvert.DeserializeObject(str); //if (strr.success && strr.data != null) //{ //} //Conn.默认Redis.SetValue($"S{Bssx}Read.RtaskState_LAST", "1", $"S{Bssx}ReadQueue"); //Conn.默认Redis.SetValue($"S{item}Read.R5空闲_LAST", "1", $"S{item}ReadQueue"); break; } } else if (R5 != 5 && R5空闲_LAST == 1) { RedisHelper.Add($"S{item}Read.R5空闲_LAST", "0", out string msg2); } } else if (RtaskState != 3 && RtaskState_LAST == 1) { RedisHelper.Add($"S{Bssx}Read.RtaskState_LAST", "0", out string msg); //Conn.默认Redis.SetValue($"S{Bssx}Read.RtaskState_LAST", "0", $"S{Bssx}ReadQueue"); } System.Threading.Thread.Sleep(2000); } } public void Thread0210Down(Tag tag) { Console.WriteLine($"Thread0210Down ==================>"); if (tag.RGV.R充电状态 == 1 || tag.RGV.R手动1自动2 == 1 || tag.RGV.RgvrunError > 0) { LogHelper.Info($"RGV 手动||故障||充电，02 10 > 1017终止。"); return; } TaskRepository taskRepository = new TaskRepository(); foreach (var Bssx in new string[] { "1002", "1010" }) { var RtaskState = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{Bssx}Read.RtaskState"), typeof(System.UInt16)); var RtaskState_LAST = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{Bssx}Read.RtaskState_LAST"), typeof(System.UInt16)); var R托盘码 = (System.String)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{Bssx}Read.R托盘码"), typeof(System.String)); Console.WriteLine($"{Bssx} 满下检测：任务申请：{RtaskState}- 是否已处理：{RtaskState_LAST}- 托盘码：{R托盘码}"); if (RtaskState == 3 && RtaskState_LAST == 0) { var task = taskRepository.FindEntity(x => x.S_START_LOC == Bssx && x.S_B_STATE != "完成" && x.S_B_STATE != "取消"); string msg = ""; if (task != null) { Console.WriteLine($"{Bssx} 有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务"); LogHelper.Info($"{Bssx} 有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务"); continue; } var item = "1017"; var R5 = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{item}Read.R5空闲"), typeof(System.UInt16)); var R5空闲_LAST = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{item}Read.R5空闲_LAST"), typeof(System.UInt16)); if (R5 == 5 && R5空闲_LAST == 0) { task = taskRepository.FindEntity(x => x.S_END_LOC == item && x.S_B_STATE != "完成" && x.S_B_STATE != "取消"); msg = ""; if (task != null) { Console.WriteLine($"{item} 有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务"); LogHelper.Info($"{item} 有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务"); continue; } var b = TaskProcess.CreateTask("", Bssx, item, "满转1017", 5, new List { R托盘码 }, "RGV"); if (b) { RedisHelper.Add($"S{Bssx}Read.RtaskState_LAST", "1", out msg); RedisHelper.Add($"S{item}Read.R5空闲_LAST", "1", out string msg1); LogHelper.Info($"{R托盘码} 转子生产完成进行鲍工！！"); var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/223", JsonConvert.SerializeObject(new { cntrCode = R托盘码, type = 2, lineCode = "1002,1008".Contains(Bssx) ? "T01" : "T02" })); //Conn.默认Redis.SetValue($"S{Bssx}Read.RtaskState_LAST", "1", $"S{Bssx}ReadQueue"); //Conn.默认Redis.SetValue($"S{item}Read.R5空闲_LAST", "1", $"S{item}ReadQueue"); break; } } else if (R5 != 5 && R5空闲_LAST == 1) { RedisHelper.Add($"S{item}Read.R5空闲_LAST", "0", out string msg1); } } else if (RtaskState != 3 && RtaskState_LAST == 1) { RedisHelper.Add($"S{Bssx}Read.RtaskState_LAST", "0", out string msg); } System.Threading.Thread.Sleep(2000); } } public void Thread下料位检测(Tag tag) { Console.WriteLine($"Thread下料位检测 =====>"); var lsi = new List(); foreach (var ssx in new string[] { "1003", "1005", "1011", "1013" }) { var RArrive = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"FNK1003051113.RArrive{ssx}"), typeof(System.UInt16)); //var RArriveLast = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"FNK1003051113.RArrive{ssx}_LAST"), typeof(System.UInt16)); var wArriveOver = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"FNK1003051113.wArrive{ssx}Over"), typeof(System.UInt16)); var rReleaseOver = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"FNK1003051113.rRelease{ssx}Over"), typeof(System.UInt16)); var WRelease = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"FNK1003051113.WRelease{ssx}"), typeof(System.UInt16)); var RtrayCode = (System.String)System.Convert.ChangeType(Conn.默认Redis.GetValue($"SSX1003051113.R{ssx}Barcode"), typeof(System.String)); var rdisTcode = RedisHelper.Get($"Arrive{ssx}BarcodeLast", out string msg); // 写了空框到位的托盘号记录， 如果下次信号来了，托盘号不一致就写，一致就不写，防止因特殊原因被清除重新触发，导致发送重复的问题。 LogHelper.Info($@" 托盘号：{RtrayCode} redis托盘号：{rdisTcode} 空到位 RArrive{ssx}>{RArrive} 机械手收到控到位.wArrive{ssx}Over>{wArriveOver} 送出完成.rRelease{ssx}Over>{rReleaseOver} 放货完成.WRelease{ssx}>{WRelease}"); if (RArrive == 1 && WRelease == 0 /*&& RArriveLast == 0*/ && !string.IsNullOrEmpty(RtrayCode) && RtrayCode != rdisTcode) { switch (ssx) { case "1003": { LogHelper.Info($"ssx == 1003 && tag.SF下料位.WRelease1003:{tag.SF下料位.WRelease1003} 写f1 2210=1，Arrive{ssx}BarcodeLast={RtrayCode}"); tag.FNK1.D2210 = 1; //Conn.默认Redis.SetValue($"p发那科1下线.D2210", "1", $"p发那科1下线Queue",false); } break; case "1005": { LogHelper.Info($"ssx == 1005 && tag.SF下料位.WRelease1005:{tag.SF下料位.WRelease1005} 写f1 2215=1，Arrive{ssx}BarcodeLast={RtrayCode}"); tag.FNK1.D2215 = 1; } break; case "1011": { LogHelper.Info($"ssx == 1011 && tag.SF下料位.WRelease1011:{tag.SF下料位.WRelease1011} 写f2 2210=1，Arrive{ssx}BarcodeLast={RtrayCode}"); tag.FNK2.D2210 = 1; } break; case "1013": { LogHelper.Info($"ssx == 1013 && tag.SF下料位.WRelease1013:{tag.SF下料位.WRelease1013} 写f2 2215=1，Arrive{ssx}BarcodeLast={RtrayCode}"); tag.FNK2.D2215 = 1; } break; } RedisHelper.Add($"Arrive{ssx}BarcodeLast", RtrayCode, out msg); } else if (RArrive == 0) { //if (RArriveLast == 1) //{ // LogHelper.Info($"重置 FNK1003051113.RArrive{ssx}_LAST=0"); // RedisHelper.Add($"FNK1003051113.RArrive{ssx}_LAST", "0", out string msg); //} if (wArriveOver == 1) { LogHelper.Info($"重置 FNK1003051113.wArrive{ssx}Over=0"); Conn.默认Redis.SetValue($"FNK1003051113.wArrive{ssx}Over", "0", $"FNK1003051113Queue"); } //Conn.默认Redis.SetValue($"FNK1003051113.RArrive{ssx}_LAST", "0", $"FNK1003051113Queue"); } if (WRelease == 1 && rReleaseOver == 1) { //switch (ssx) //{ // case "1003": // { // LogHelper.Info($"读{ssx} WRelease=1&& rReleaseOver=1 读FNK1.D2213{tag.FNK1.D2213}=1? 并写0"); // tag.FNK1.D2213 = 0; // } // break; // case "1005": // { // LogHelper.Info($"读{ssx} WRelease=1&& rReleaseOver=1 读FNK1.D2218{tag.FNK1.D2218}=1? 并写0"); // tag.FNK1.D2218 = 0; // } // break; // case "1011": // { // LogHelper.Info($"读{ssx} WRelease=1&& rReleaseOver=1 读FNK2.D2213{tag.FNK1.D2213}=1? 并写0"); // tag.FNK2.D2213 = 0; // } // break; // case "1013": // { // LogHelper.Info($"读{ssx} WRelease=1&& rReleaseOver=1 读FNK2.D2218{tag.FNK2.D2218}=1? 并写0"); // tag.FNK2.D2218 = 0; // } // break; //} LogHelper.Info($"读{ssx} WRelease=1&& rReleaseOver=1 WRelease 写0"); Conn.默认Redis.SetValue($"FNK1003051113.WRelease{ssx}", "0", $"FNK1003051113Queue"); } } } public void ThreadFNK1Over(Tag tag) { Console.WriteLine($"ThreadFNK1Over =====>"); LogHelper.Info($" FN1 时间戳 {RedisHelper.Get("p发那科1下线#Timestamp", out string mg)}"); LogHelper.Info($" FN1 D2217>{tag.FNK1.D2217} D2217LAST>{tag.FNK1.D2217_LAST} D2215>{tag.FNK1.D2215} D2216>{tag.FNK1.D2216} D2218>{tag.FNK1.D2218}"); //LogHelper.Info($" FN1 .D2217=1,2217_LAST=0 写 2215=0，D2217_LAST=1，WRelease1005=1 RArrive1005_LAST=0"); if (tag.FNK1.D2217 == 1 && tag.FNK1.D2217_LAST == 0) { //tag.FNK1.D2215 = 0; //tag.FNK1.D2218 = 1; //tag.FNK1.D2212_LAST = 1; RedisHelper.Add($"p发那科1下线.D2217_LAST", "1", out string msg); tag.SF下料位.WRelease1005 = 1; tag.SF下料位.WSafe0305 = 1; System.Threading.Thread.Sleep(1000); //RedisHelper.Add($"FNK1003051113.RArrive1005_LAST", "0", out msg); RedisHelper.Add($"Arrive1005BarcodeLast", "0", out msg); LogHelper.Info($" FN1 .D2217=1,2217_LAST=0 写 2218=1，D2217_LAST=1，WRelease1005=1 Arrive1005BarcodeLast=0"); } else if (tag.FNK1.D2217 == 0 && tag.FNK1.D2217_LAST == 1) { //tag.FNK1.D2217_LAST = 0; RedisHelper.Add($"p发那科1下线.D2217_LAST", "0", out string msg); LogHelper.Info($" p发那科1下线.D2217_LAST=0"); } if (tag.FNK1.D2216 == 1) { tag.FNK1.D2215 = 0; tag.SF下料位.wArrive1005Over = 1; LogHelper.Info($" p发那科1下线 读D2216=1 写D2215 =0， 写机械手收到1005 =1"); } LogHelper.Info($" FN1 D2212>{tag.FNK1.D2212} D2212LAST>{tag.FNK1.D2212_LAST} D2210>{tag.FNK1.D2210} D2211>{tag.FNK1.D2211} D2213>{tag.FNK1.D2213}"); if (tag.FNK1.D2212 == 1 && tag.FNK1.D2212_LAST == 0) { //tag.FNK1.D2213 = 1; //tag.FNK1.D2210 = 0; //tag.FNK1.D2217_LAST = 1; RedisHelper.Add($"p发那科1下线.D2212_LAST", "1", out string msg); tag.SF下料位.WRelease1003 = 1; tag.SF下料位.WSafe0305 = 1; System.Threading.Thread.Sleep(1000); //RedisHelper.Add($"FNK1003051113.RArrive1003_LAST", "0", out msg); RedisHelper.Add($"Arrive1003BarcodeLast", "0", out msg); LogHelper.Info($" FN1 .D2212=1,2212_LAST=0 写 D2213=1，D2212_LAST=1，WRelease1003=1 Arrive1003BarcodeLast=0"); } //else if (tag.FNK1.D2211 == 1) // tag.FNK1.D2210 = 0; else if (tag.FNK1.D2212 == 0 && tag.FNK1.D2212_LAST == 1) { //tag.FNK1.D2212_LAST = 0; RedisHelper.Add($"p发那科1下线.D2212_LAST", "0", out string msg); LogHelper.Info($" p发那科1下线.D2212_LAST=0"); } if (tag.FNK1.D2211 == 1) { tag.FNK1.D2210 = 0; tag.SF下料位.wArrive1003Over = 1; LogHelper.Info($" p发那科1下线 读D2211=1 写D2210 =0 写机械手收到空到1003=1"); } } public void ThreadFNK2Over(Tag tag) { Console.WriteLine($"ThreadFNK2Over =====>"); LogHelper.Info($" FN2 时间戳 {RedisHelper.Get("p发那科2下线#Timestamp", out string mg)}"); LogHelper.Info($" FN2 D2217>{tag.FNK2.D2217} D2217LAST>{tag.FNK2.D2217_LAST} D2215>{tag.FNK2.D2215} D2216>{tag.FNK2.D2216} D2218>{tag.FNK2.D2218}"); if (tag.FNK2.D2217 == 1 && tag.FNK2.D2217_LAST == 0) { //tag.FNK2.D2215 = 0; //tag.FNK2.D2218 = 1; //tag.FNK2.D2212_LAST = 1; RedisHelper.Add($"p发那科2下线.D2217_LAST", "1", out string msg); tag.SF下料位.WRelease1013 = 1; tag.SF下料位.WSafe1113 = 1; System.Threading.Thread.Sleep(1000); //RedisHelper.Add($"FNK1003051113.RArrive1013_LAST", "0", out msg); RedisHelper.Add($"Arrive1013BarcodeLast", "0", out msg); LogHelper.Info($" FN2 .D2217=1,2217_LAST=0 写 2218=1，D2217_LAST=1，WRelease1013=1 Arrive1013BarcodeLast=0"); } else if (tag.FNK2.D2217 == 0 && tag.FNK2.D2217_LAST == 1) { //tag.FNK2.D2217_LAST = 0; RedisHelper.Add($"p发那科2下线.D2217_LAST", "0", out string msg); LogHelper.Info($" p发那科2下线.D2217_LAST=0"); } if (tag.FNK2.D2216 == 1) { tag.FNK2.D2215 = 0; tag.SF下料位.wArrive1013Over = 1; LogHelper.Info($" p发那科2下线 读D2216=1 写D2215 =0 写机械手收到空到1013=1"); } LogHelper.Info($" FN2 D2212>{tag.FNK2.D2212} D2212LAST>{tag.FNK2.D2212_LAST} D2210>{tag.FNK2.D2210} D2211>{tag.FNK2.D2211} D2213>{tag.FNK2.D2213}"); if (tag.FNK2.D2212 == 1 && tag.FNK2.D2212_LAST == 0) { //tag.FNK2.D2210 = 0; //tag.FNK2.D2213 = 1; //tag.FNK2.D2217_LAST = 1; RedisHelper.Add($"p发那科2下线.D2212_LAST", "1", out string msg); tag.SF下料位.WRelease1011 = 1; tag.SF下料位.WSafe1113 = 1; System.Threading.Thread.Sleep(1000); //RedisHelper.Add($"FNK1003051113.RArrive1011_LAST", "0", out msg); RedisHelper.Add($"Arrive1011BarcodeLast", "0", out msg); LogHelper.Info($" FN2 .D2212=1,2212_LAST=0 写 2213=1，D2212_LAST=1，WRelease1011=1 Arrive1011BarcodeLast=0"); } else if (tag.FNK2.D2212 == 0 && tag.FNK2.D2212_LAST == 1) { //tag.FNK2.D2212_LAST = 0; RedisHelper.Add($"p发那科2下线.D2212_LAST", "0", out string msg); LogHelper.Info($" p发那科2下线.D2212_LAST=0"); } if (tag.FNK2.D2211 == 1) { tag.FNK2.D2210 = 0; tag.SF下料位.wArrive1011Over = 1; LogHelper.Info($" p发那科2下线 读D2211=1 写D2210 =0 写机械手收到空到1011 wArrive1011Over=1"); } } public void Thread1019Down(Tag tag) { var taggg = tag.SA1019; string vqu = "A1019取货交互"; LogHelper.Info($"1019任务状态： =====>任务申请：{taggg.Ssetreq},输送线允许：{taggg.SreadCan} 任务完成：{taggg.SOver} 输送线收到完成：{taggg.SreadAgvover}"); if (taggg.SOver && taggg.SreadAgvover) { SetRedistoPlc(vqu + ".Ssetreq", "false", vqu + "Queue", "清AGV申请"); SetRedistoPlc(vqu + ".SOver", "false", vqu + "Queue", "清AGV申请"); SetRedistoPlc(vqu + ".StaskMode", "0", vqu + "Queue", "清AGV申请"); } //Console.WriteLine($"1019任务状态： =====>"); //Console.WriteLine($"1019任务状态：{tag.SA1019.RtaskState}- barcode:{tag.SA1019.R托盘码}- 空闲{tag.SA1019.R5空闲}"); } private void sa2008(Tag tag) { var rdisTcode = RedisHelper.Get($"Arrive{2008}BarcodeLast", out string msg); LogHelper.Info($"2008 托盘号{tag.SA2030.R托盘码} redis Arrive{2008}BarcodeLast托盘号：{rdisTcode} 匹配校验。"); if (!string.IsNullOrEmpty(tag.ssx输送线.s2008.R托盘码) && rdisTcode != tag.ssx输送线.s2008.R托盘码) { var ntr = tag.ssx输送线.s2008.R托盘码; var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/224", JsonConvert.SerializeObject(new { cntrCode = ntr, type = 1 })); var strr = JsonConvert.DeserializeObject(str); if (strr.success && strr.data != null) { var end = (strr.data.lineNum == 1 ? 2027 : strr.data.lineNum == 2 ? 2020 : 2013); tag.ssx输送线.s2008.wTaskNo = (uint)(20080000 + end); tag.ssx输送线.s2008.wEbit = 2027; tag.ssx输送线.s2008.R托盘码 = ntr; RedisHelper.Add($"Arrive{2008}BarcodeLast", ntr, out msg); } } } private void sa2030(Tag tag) { var taggg = tag.SA2030; string vqu = "A2030取货交互"; LogHelper.Info($"{vqu}任务状态： =====>任务申请：{taggg.Ssetreq},输送线允许：{taggg.SreadCan} 任务完成：{taggg.SOver} 输送线收到完成：{taggg.SreadAgvover}"); if (taggg.SOver && taggg.SreadAgvover) { SetRedistoPlc(vqu + ".Ssetreq", "false", vqu + "Queue", "清AGV申请"); SetRedistoPlc(vqu + ".SOver", "false", vqu + "Queue", "清AGV申请"); SetRedistoPlc(vqu + ".StaskMode", "0", vqu + "Queue", "清AGV申请"); } } private void sa2001(Tag tag) { var taggg = tag.SA2001; string vqu = "A2001放货交互"; LogHelper.Info($"{vqu}任务状态： =====>任务申请：{taggg.Ssetreq},输送线允许：{taggg.SreadCan} 任务完成：{taggg.SOver} 输送线收到完成：{taggg.SreadAgvover}"); if (taggg.SOver && taggg.SreadAgvover) { SetRedistoPlc(vqu + ".Ssetreq", "false", vqu + "Queue", "清AGV申请"); SetRedistoPlc(vqu + ".SOver", "false", vqu + "Queue", "清AGV申请"); SetRedistoPlc(vqu + ".StaskMode", "0", vqu + "Queue", "清AGV申请"); } } private void sa1030(Tag tag) { var taggg = tag.SA1030; string vqu = "A1030取货交互"; LogHelper.Info($"{vqu}任务状态： =====>任务申请：{taggg.Ssetreq},输送线允许：{taggg.SreadCan} 任务完成：{taggg.SOver} 输送线收到完成：{taggg.SreadAgvover}"); if (taggg.SOver && taggg.SreadAgvover) { SetRedistoPlc(vqu + ".Ssetreq", "false", vqu + "Queue", "写AGV申请"); SetRedistoPlc(vqu + ".SOver", "false", vqu + "Queue", "写AGV申请"); SetRedistoPlc(vqu + ".StaskMode", "0", vqu + "Queue", "写AGV申请"); } } private void sa1025(Tag tag) { var taggg = tag.SA1025; string vqu = "A1025放货交互"; LogHelper.Info($"{vqu}任务状态： =====>任务申请：{taggg.Ssetreq},输送线允许：{taggg.SreadCan} 任务完成：{taggg.SOver} 输送线收到完成：{taggg.SreadAgvover}"); if (taggg.SOver && taggg.SreadAgvover) { SetRedistoPlc(vqu + ".Ssetreq", "false", vqu + "Queue", "清AGV申请"); SetRedistoPlc(vqu + ".SOver", "false", vqu + "Queue", "清AGV申请"); SetRedistoPlc(vqu + ".StaskMode", "0", vqu + "Queue", "清AGV申请"); } } private void sa1022(Tag tag) { var taggg = tag.SA1022; string vqu = "A1022放货交互"; LogHelper.Info($"{vqu}任务状态： =====>任务申请：{taggg.Ssetreq},输送线允许：{taggg.SreadCan} 任务完成：{taggg.SOver} 输送线收到完成：{taggg.SreadAgvover}"); if (taggg.SOver && taggg.SreadAgvover) { SetRedistoPlc(vqu + ".Ssetreq", "false", vqu + "Queue", "清AGV申请"); SetRedistoPlc(vqu + ".SOver", "false", vqu + "Queue", "清AGV申请"); SetRedistoPlc(vqu + ".StaskMode", "0", vqu + "Queue", "清AGV申请"); } } private void sa3010(Tag tag) { var taggg = tag.ssx输送线.s3010; string vqu = "A3010取货交互"; LogHelper.Info($"{vqu}任务状态： =====>任务申请：{taggg.Ssetreq},输送线允许：{taggg.SreadCan} 任务完成：{taggg.SOver} 输送线收到完成：{taggg.SreadAgvover}"); if (taggg.SOver && taggg.SreadAgvover) { SetRedistoPlc(vqu + ".Ssetreq", "false", vqu + "Queue", "清AGV申请"); SetRedistoPlc(vqu + ".SOver", "false", vqu + "Queue", "清AGV申请"); SetRedistoPlc(vqu + ".StaskMode", "0", vqu + "Queue", "清AGV申请"); } } private void sa3006(Tag tag) { var taggg = tag.ssx输送线.s3006; string vqu = "A3006放货交互"; LogHelper.Info($"{vqu}任务状态： =====>任务申请：{taggg.Ssetreq},输送线允许：{taggg.SreadCan} 任务完成：{taggg.SOver} 输送线收到完成：{taggg.SreadAgvover}"); if (taggg.SOver && taggg.SreadAgvover) { SetRedistoPlc(vqu + ".Ssetreq", "false", vqu + "Queue", "清AGV申请"); SetRedistoPlc(vqu + ".SOver", "false", vqu + "Queue", "清AGV申请"); SetRedistoPlc(vqu + ".StaskMode", "0", vqu + "Queue", "清AGV申请"); } } private void sa3005(Tag tag) { var taggg = tag.ssx输送线.s3005; string vqu = "A3005取货交互"; LogHelper.Info($"{vqu}任务状态： =====>任务申请：{taggg.Ssetreq},输送线允许：{taggg.SreadCan} 任务完成：{taggg.SOver} 输送线收到完成：{taggg.SreadAgvover}"); if (taggg.SOver && taggg.SreadAgvover) { SetRedistoPlc(vqu + ".Ssetreq", "false", vqu + "Queue", "清AGV申请"); SetRedistoPlc(vqu + ".SOver", "false", vqu + "Queue", "清AGV申请"); SetRedistoPlc(vqu + ".StaskMode", "0", vqu + "Queue", "清AGV申请"); } } private void sa3001(Tag tag) { var taggg = tag.ssx输送线.s3010; string vqu = "A3001放货交互"; LogHelper.Info($"{vqu}任务状态： =====>任务申请：{taggg.Ssetreq},输送线允许：{taggg.SreadCan} 任务完成：{taggg.SOver} 输送线收到完成：{taggg.SreadAgvover}"); if (taggg.SOver && taggg.SreadAgvover) { SetRedistoPlc(vqu + ".Ssetreq", "false", vqu + "Queue", "清AGV申请"); SetRedistoPlc(vqu + ".SOver", "false", vqu + "Queue", "清AGV申请"); SetRedistoPlc(vqu + ".StaskMode", "0", vqu + "Queue", "清AGV申请"); } } public void Thread1025Up(Tag tag) { //if (tag.SA1019.SOver && tag.SA1019.SreadSsxOver) //{ // SetRedistoPlc("A1019取货交互.Ssetreq", "false", "A1019取货交互Queue", "写AGV申请"); // SetRedistoPlc("A1019取货交互.SOver", "false", "A1019取货交互Queue", "写AGV申请"); //} //Console.WriteLine($"SA1025 任务状态： =====>"); //Console.WriteLine($"SA1025 任务状态：{tag.SA1025.RtaskState}- 空闲{tag.SA1025.R5空闲}"); } public void Thread1022Up(Tag tag) { //if (tag.SA1019.SOver && tag.SA1019.SreadSsxOver) //{ // SetRedistoPlc("A1019取货交互.Ssetreq", "false", "A1019取货交互Queue", "清理"); // SetRedistoPlc("A1019取货交互.SOver", "false", "A1019取货交互Queue", "清理"); //} //Console.WriteLine($"SA1022 =====>"); //Console.WriteLine($"SA1022 任务状态：{tag.SA1022.RtaskState}- 空闲{tag.SA1022.R5空闲}"); } public void Thread1030Down(Tag tag) { Console.WriteLine($"SA1030 任务状态： =====>"); if (tag.SA1030.RtaskState == 4 && tag.SA1030.RtaskState_LAST == 0 && tag.SA2001.R5空闲 == 5) { var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new { requestType = 10, startBit = "1030", endBit = "2001", })); RedisHelper.Add($"S1030Read.RtaskState_LAST", "1", out string msg); } else if (tag.SA1030.RtaskState != 4 && tag.SA1030.RtaskState_LAST == 1) RedisHelper.Add($"S1030Read.RtaskState_LAST", "0", out string msg); //if (tag.SA1019.SOver && tag.SA1019.SreadSsxOver) //{ // SetRedistoPlc("A1022放货交互.Ssetreq", "false", "A1022放货交互Queue", "清理"); // SetRedistoPlc("A1022放货交互.SOver", "false", "A1022放货交互Queue", "清理"); //} //Console.WriteLine($"SA1030 任务状态：{tag.SA1030.RtaskState}- 空闲{tag.SA1030.R5空闲}-->对应终点2001>空闲5：{tag.SA2001.R5空闲}"); } static int i = 0; public void Thread2030Down(Tag tag) { i++; if (i > 2 * 3600 / 3) { Console.Clear(); LogHelper.Info($"循环{i}次>> 清空控制台。"); i = 0; } //Console.WriteLine($"SA2030 任务状态： =====>"); //Console.WriteLine($"SA2030 任务状态：{tag.SA2030.RtaskState}- 空闲{tag.SA2030.R5空闲} - barcode:{tag.SA2030.R托盘码}"); } public void ResolveMesTask(Tag tag) { TaskRepository taskservice = new TaskRepository(); var tasks = taskservice.FindList(x => (x.S_B_STATE == "MES" || x.S_B_STATE == "People") && x.N_PRIORITY == -88); var VERXs = Settings.deviceInfos?.FindAll(x => x.deviceType == 2); //if (VERXs.Any()) foreach (var task in tasks) { LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} "); if (task.S_TYPE?.Trim() == "100") { LogHelper.Info($"MES任务 S_TYPE 100->{task.S_TYPE} "); } var sx = VERXs?.Find(x => x.location.Contains(task.S_END_LOC)); LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} {(sx == null ? "非" : "是")}总装机器人任务"); if (sx == null) { gotoOOOOOOOOO: if (string.IsNullOrEmpty(task.S_CNTRS) && !string.IsNullOrEmpty(task.S_INDEX)) { // 叫料任务。 指定物料不指定托盘，需要出库 var ssagv = Settings.deviceInfos.Find(x => x.deviceType == 4); if (ssagv.location.Contains(task.S_START_LOC)) switch (task.S_START_LOC) { case "2030": if (!string.IsNullOrEmpty(tag.SA2030.R托盘码)) { LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 2030 出口托盘号{tag.SA2030.R托盘码} 匹配校验。"); var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/224", JsonConvert.SerializeObject(new { cntrCode = tag.SA2030.R托盘码, type = 1 })); var strr = JsonConvert.DeserializeObject(str); if (strr.success && strr.data.materialCode == task.S_INDEX) { task.S_CNTRS = tag.SA2030.R托盘码; taskservice.Update(task); goto gotoOOOOOOOOO; } else { LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 物料{task.S_INDEX} 与 2030 出口的托盘物料{strr.data.materialCode}不符合"); } } else { //2027 2220 2013.. 识别一下，开始库 //1 看27 20 13 是否有任务。 有则不出了。 等出口判断匹配。 //2 都没有任务，逐个匹配是否符合，则出库。 //LogHelper.Info($""); { var t20132027 = tag.ssx输送线.s2027; LogHelper.Info($"识别2027任务 托盘号：{t20132027.R托盘码} RTaskNo>{t20132027.RTaskNo} REbit>{t20132027.REbit} wTaskNo>{t20132027.wTaskNo} wEbit>{t20132027.wEbit}"); if ((t20132027.RTaskNo > 0 && t20132027.REbit == 2030) || (t20132027.wTaskNo > 0 && t20132027.wEbit == 2030)) { LogHelper.Info($"2027任务 任务终点是2030 ，终止"); continue; } } { var t20132027 = tag.ssx输送线.s2020; LogHelper.Info($"识别2027任务 托盘号：{t20132027.R托盘码} RTaskNo>{t20132027.RTaskNo} REbit>{t20132027.REbit} wTaskNo>{t20132027.wTaskNo} wEbit>{t20132027.wEbit}"); if ((t20132027.RTaskNo > 0 && t20132027.REbit == 2030) || (t20132027.wTaskNo > 0 && t20132027.wEbit == 2030)) { LogHelper.Info($"2020任务 任务终点是2030 ，终止"); continue; } } { var t20132027 = tag.ssx输送线.s2013; LogHelper.Info($"识别2027任务 托盘号：{t20132027.R托盘码} RTaskNo>{t20132027.RTaskNo} REbit>{t20132027.REbit} wTaskNo>{t20132027.wTaskNo} wEbit>{t20132027.wEbit}"); if ((t20132027.RTaskNo > 0 && t20132027.REbit == 2030) || (t20132027.wTaskNo > 0 && t20132027.wEbit == 2030)) { LogHelper.Info($"2013任务 任务终点是2030 ，终止"); continue; } } if (!string.IsNullOrEmpty(tag.ssx输送线.s2027.R托盘码)) { var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/224", JsonConvert.SerializeObject(new { cntrCode = tag.ssx输送线.s2027.R托盘码, type = 1 })); var strr = JsonConvert.DeserializeObject(str); if (strr.success && strr.data.materialCode == task.S_INDEX) { LogHelper.Info($"2027 读到托盘{tag.ssx输送线.s2027.R托盘码} 匹配成功，写任务号：20272030，终点：2030 和托盘码同读"); tag.ssx输送线.s2027.wTaskNo = 20272030; tag.ssx输送线.s2027.wEbit = 2030; tag.ssx输送线.s2027.w托盘码 = tag.ssx输送线.s2027.R托盘码; LogHelper.Info($"2027 > 2030 SSX任务下发完成。"); continue; } } if (!string.IsNullOrEmpty(tag.ssx输送线.s2020.R托盘码)) { var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/224", JsonConvert.SerializeObject(new { cntrCode = tag.ssx输送线.s2020.R托盘码, type = 1 })); var strr = JsonConvert.DeserializeObject(str); if (strr.success && strr.data.materialCode == task.S_INDEX) { LogHelper.Info($"2020 读到托盘{tag.ssx输送线.s2020.R托盘码} 匹配成功，写任务号：20202030，终点：2030 和托盘码同读"); tag.ssx输送线.s2020.wTaskNo = 20202030; tag.ssx输送线.s2020.wEbit = 2030; tag.ssx输送线.s2020.w托盘码 = tag.ssx输送线.s2020.R托盘码; LogHelper.Info($"2020 > 2030 SSX任务下发完成。"); continue; } } if (!string.IsNullOrEmpty(tag.ssx输送线.s2013.R托盘码)) { var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/224", JsonConvert.SerializeObject(new { cntrCode = tag.ssx输送线.s2013.R托盘码, type = 1 })); var strr = JsonConvert.DeserializeObject(str); if (strr.success && strr.data.materialCode == task.S_INDEX) { LogHelper.Info($"2013 读到托盘{tag.ssx输送线.s2013.R托盘码} 匹配成功，写任务号：20132030，终点：2030 和托盘码同读"); tag.ssx输送线.s2013.wTaskNo = 20132030; tag.ssx输送线.s2013.wEbit = 2030; tag.ssx输送线.s2013.w托盘码 = tag.ssx输送线.s2013.R托盘码; LogHelper.Info($"2013 > 2030 SSX任务下发完成。"); continue; } } LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 日志能跑到这，说明没物料，或者都不符合 无法去2030"); } break; case "1019": if (!string.IsNullOrEmpty(tag.SA1019.R托盘码)) { var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/224", JsonConvert.SerializeObject(new { cntrCode = tag.SA1019.R托盘码, type = 2 })); var strr = JsonConvert.DeserializeObject(str); if (strr.success && strr.data.materialCode == task.S_INDEX) { task.S_CNTRS = tag.SA2030.R托盘码; taskservice.Update(task); goto gotoOOOOOOOOO; } else { LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 物料{task.S_INDEX} 与 1019 出口的托盘物料{strr.data.materialCode}不符合"); } } break; //case "1030": // { // } //break; case "3005": { if (!string.IsNullOrEmpty(tag.ssx输送线.s3005.R托盘码)) { var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/224", JsonConvert.SerializeObject(new { cntrCode = tag.ssx输送线.s3005.R托盘码, type = 2 })); var strr = JsonConvert.DeserializeObject(str); if (strr.success && strr.data.materialCode == task.S_INDEX) { task.S_CNTRS = tag.ssx输送线.s3005.R托盘码; taskservice.Update(task); goto gotoOOOOOOOOO; } else { LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 物料{task.S_INDEX} 与 3010 出口的托盘物料{strr.data.materialCode}不符合"); } } } break; case "3010": { if (!string.IsNullOrEmpty(tag.ssx输送线.s3010.R托盘码)) { var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/224", JsonConvert.SerializeObject(new { cntrCode = tag.ssx输送线.s3010.R托盘码, type = 2 })); var strr = JsonConvert.DeserializeObject(str); if (strr.success && strr.data.materialCode == task.S_INDEX) { task.S_CNTRS = tag.ssx输送线.s3010.R托盘码; taskservice.Update(task); goto gotoOOOOOOOOO; } else { LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 物料{task.S_INDEX} 与 3010 出口的托盘物料{strr.data.materialCode}不符合"); } } } break; } //else if (ssagv.location.Contains(task.S_END_LOC)) // switch (task.S_END_LOC) // { // case "1022": // { // if (tag.SA1022.R5空闲 != 1) // { // LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 终点1022 非空闲，不推送"); // continue; // } // } // break; // case "1025": // { // if (tag.SA1025.R5空闲 != 1) // { // LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 终点 1025 非空闲，不推送"); // continue; // } // } // break; // case "2001": // { // if (tag.SA2001.R5空闲 != 1) // { // LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 终点 2001 非空闲，不推送"); // continue; // } // } // break; // case "3001": // { // if (tag.ssx输送线.s3001.R5空闲 != 1) // { // LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 终点 3001 非空闲，不推送"); // continue; // } // } // break; // case "3006": // { // if (tag.ssx输送线.s3006.R5空闲 != 1) // { // LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 终点 3006 非空闲，不推送"); // continue; // } // } // break; // } } else { //if (new List { "2001", "1022", "1025", "3001", "3006" }.Contains(task.S_END_LOC)) //{ //} //if (new List { "1019"/*, "1030"*/, "2030", "3005", "3010" }.Contains(task.S_START_LOC)) //1030 是主动申请， 不用判断。 //{ // //物料匹配判断。和 2030判断 //} string type = ""; if (new List { "1019"/*, "1030"*/, "2030", "3005", "3010" }.Contains(task.S_START_LOC)) switch (task.S_START_LOC) { case "1019": { type = "A009"; if (tag.SA1019.RtaskState != 4) { LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 起点 1019 RtaskState>{tag.SA1019.RtaskState} 未申请RGV任务，不推送"); continue; } } break; case "2030": { type = "A007"; if (tag.SA2030.RtaskState != 4) { LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 起点 2030 RtaskState>{tag.SA2030.RtaskState} 未申请RGV任务，不推送"); continue; } } break; case "3005": { type = "A010"; if (tag.ssx输送线.s3005.RtaskState != 4) { LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 起点 3005 RtaskState>{tag.ssx输送线.s3005.RtaskState} 未申请RGV任务，不推送"); continue; } } break; case "3010": { type = "A010"; if (tag.ssx输送线.s3010.RtaskState != 4) { LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 起点 3010 RtaskState>{tag.ssx输送线.s3010.RtaskState} 未申请RGV任务，不推送"); continue; } } break; } if (new List { "2001", "1022", "1025", "3001", "3006" }.Contains(task.S_END_LOC)) switch (task.S_END_LOC) { case "1022": { type = "A008"; if (tag.SA1022.R5空闲 != 5) { LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 终点1022 >{tag.SA1022.R5空闲} 非空闲，不推送"); continue; } } break; case "1025": { type = "A007"; if (tag.SA1025.R5空闲 != 5) { LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 终点 1025 >{tag.SA1025.R5空闲} 非空闲，不推送"); continue; } } break; case "2001": { type = "A007"; if (tag.SA2001.R5空闲 != 5) { LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 终点 2001>{tag.SA2001.R5空闲} 非空闲，不推送"); continue; } } break; case "3001": { type = "A010"; if (tag.ssx输送线.s3001.R5空闲 != 5) { LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 终点 3001>{tag.ssx输送线.s3001.R5空闲} 非空闲，不推送"); continue; } } break; case "3006": { type = "A010"; if (tag.ssx输送线.s3006.R5空闲 != 5) { LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 终点 3006>{tag.ssx输送线.s3001.R5空闲} 非空闲，不推送"); continue; } } break; } LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 直接生成对应任务"); //直接生成对应任务。 var res = TaskProcess.CreateTask(task.S_TASK_NO, task.S_START_LOC, task.S_END_LOC, task.S_TYPE, 6, task.S_CNTRS?.Split(',').ToList() ?? new List(), "AGV", type); LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 直接生成对应任务 结果：{res}"); if (res) { LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 修改标识"); //task.N_PRIORITY = 0; taskservice.dbcontext.Set().Attach(task); taskservice.dbcontext.Entry(task).Property(x => x.N_PRIORITY).CurrentValue = 0; taskservice.dbcontext.Entry(task).Property(x => x.N_PRIORITY).IsModified = true; taskservice.dbcontext.SaveChanges(); } } } else { var sindex = sx.location.ToList().IndexOf(task.S_END_LOC); LocRepository locRepository = new LocRepository(); //生成跳跃任务。 -- 托盘货位表。 var t1s = taskservice.FindList(x => x.S_SRC_NO == task.S_TASK_NO); LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 查找是否有已生成任务：{t1s != null}"); if (t1s.Any()) { var t1 = t1s.OrderBy(x => x.T_CREATE).LastOrDefault(); if (t1.S_END_LOC == task.S_END_LOC) { task.N_PRIORITY = 0; task.S_B_STATE = "MES_完成"; taskservice.Update(task); continue; } if (t1.S_B_STATE == "完成") { //1.终点是否有托盘。 依据是终点的任务是 作为终点，还是起点。 //var ec = taskservice.FindList(x => (x.S_START_LOC == task.S_START_LOC || x.S_END_LOC == task.S_END_LOC) /*&& DateTime.Now.Subtract(x.T_CREATE).TotalHours < 5*/).OrderByDescending(x => x.T_CREATE).FirstOrDefault();//($"select top 1 * from TN_TASK WHERE S_START_LOC='{task.S_END_LOC}' OR S_END_LOC='{task.S_END_LOC}' ORDER BY T_CREATE DESC"); //var ec = taskservice.FindList(x => x.S_START_LOC == task.S_START_LOC && x.S_END_LOC == task.S_START_LOC, new Common.Data.Pagination // { // page = 1, // sidx = "T_CREATE", // sord = "desc", // rows = 1 // }).FirstOrDefault(); //TaskEntity ec = null; //var dev = Conn.默认Redis.GetValue(sx.deviceName + "." + (sindex == 0 ? "D1224" : "D1225")); //if (dev?.Trim() == "1") // ec = taskservice.FindList(x => x.S_END_LOC == task.S_END_LOC && x.S_B_STATE == "完成", new Common.Data.Pagination // { // page = 1, // sidx = "T_CREATE", // sord = "desc", // rows = 1 // }).FirstOrDefault(); bool canReq = true; var tf = Conn.默认Redis.GetValue(sx.deviceName + ".D1202"); var V = sx.location.ToList().FindIndex(x => x == task.S_END_LOC) == 0; var tf2 = int.Parse(string.IsNullOrEmpty(tf) ? "0" : tf); canReq = TcpServer.GetBitdata(tf2, (V ? 2 : 3)) == 1; //if (canReq) // ec = taskservice.FindList(x => x.S_END_LOC == task.S_END_LOC && x.S_B_STATE == "完成", new Common.Data.Pagination // { // page = 1, // sidx = "T_CREATE", // sord = "desc", // rows = 1 // }).FirstOrDefault(); if (t1.S_START_LOC == task.S_START_LOC && canReq)//!= task.S_END_LOC) { //第二段。 LocEntity endLoc = null; var di = sx; if (di != null) { //foreach (var ssloc in di.deviceNo) { var ssloc = di.deviceNo[1]; var endloc = locRepository.FindEntity(x => x.S_LOC_CODE == ssloc); if (endloc != null && endloc.N_CURRENT_NUM == 0 && endloc.S_LOCK_STATE.Trim() == "无") { endLoc = endloc; //break; } } if (endLoc != null) { var res = TaskProcess.CreateTask(task.S_TASK_NO, task.S_END_LOC, endLoc.S_LOC_CODE, task.S_TYPE + "下空", 7, "NONE".Split(',').ToList()); if (res) { task.N_PRIORITY = 0; taskservice.Update(task); } } } } else { if (t1.S_START_LOC != task.S_START_LOC) { t1 = taskservice.FindEntity(x => x.S_SRC_NO == task.S_TASK_NO && x.S_START_LOC == task.S_START_LOC && x.S_B_STATE == "完成"); } var res = TaskProcess.CreateTask(task.S_TASK_NO, t1.S_END_LOC, task.S_END_LOC, task.S_TYPE + "补满", 6, task.S_CNTRS.Split(',').ToList()); if (res) { task.N_PRIORITY = 0; taskservice.Update(task); } } } } else { LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 筛选生成第一段 任务。"); //生成第一段。 LocEntity endLoc = null; var di = sx; if (di != null) { //foreach (var ssloc in di.deviceNo) { var ssloc = di.deviceNo[0]; var endloc = locRepository.FindEntity(x => x.S_LOC_CODE == ssloc); if (endloc != null && endloc.N_CURRENT_NUM == 0 && endloc.S_LOCK_STATE.Trim() == "无") { endLoc = endloc; //break; } } if (endLoc != null) { LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 创建第一段 任务。"); var res = TaskProcess.CreateTask(task.S_TASK_NO, task.S_START_LOC, endLoc.S_LOC_CODE, task.S_TYPE + "满转", 8, task.S_CNTRS.Split(',').ToList()); LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 创建第一段 任务。结果：{res}"); if (res) { task.N_PRIORITY = 0; taskservice.Update(task); } } } } } } } public string procNo() { return TaskProcess.GenerateTaskNo("日志流水号", "LOG"); } public bool SetRedistoPlc(string key, string value, string queue, string desc) { var vnc = procNo(); LogHelper.Info($"{vnc}>>Redis.SetValue写plc 描述：{desc} tagName:{key},value:{value},queue:{queue}"); var v = Conn.默认Redis.SetValue(key, value, queue); LogHelper.Info($"{vnc}>> 写入结果{v}"); return v; } public HkReturnResult OperateHKTaskStatus(HaiKangOrderInfo model) { // 查询任务：根据任务号 //var wcsTask = WCSHelper.GetTask(model.taskCode); ITaskRepository MainMissionService = new TaskRepository(); var wcsTask = MainMissionService.FindEntity(x => model.taskCode == x.S_TASK_NO); if (wcsTask != null) { if (!string.IsNullOrWhiteSpace(model.method)) { ILocRepository locrep = new LocRepository(); var startloc = locrep.FindEntity(x => x.S_LOC_CODE == wcsTask.S_START_LOC); var endLoc = locrep.FindEntity(x => x.S_LOC_CODE == wcsTask.S_END_LOC); List cntrs = wcsTask.S_CNTRS.Split(',').ToList(); bool bobe = false; //model.method = model.method?.ToLower(); switch (model.method) { case "start": LogHelper.Info($"海康车任务状态变更为执行，任务号为：{model.taskCode}", "agv杭叉交互日志"); if (wcsTask.S_B_STATE.Trim() == "已推送") { wcsTask.S_B_STATE = "执行中"; wcsTask.T_START_TIME = DateTime.Now; MainMissionService.Update(wcsTask); bobe = true; } break; case "outBin": case "outbin": model.method = model.method?.ToLower(); LogHelper.Info($"海康车任务状态变更为取货完成，任务号为：{model.taskCode}", "agv杭叉交互日志"); wcsTask.S_B_STATE = "取货完成"; startloc.N_CURRENT_NUM = 0; startloc.S_LOCK_STATE = "无"; startloc.T_MODIFY = DateTime.Now; //ILocContainerRepository locContainerRepository = new LocContainerRepository(); ////var cnr = locContainerRepository.FindList(x => cntrs.Contains(x.S_CNTR_CODE.Trim()) && x.S_LOC_CODE == wcsTask.S_START_LOC); //locContainerRepository.Delete(x => cntrs.Contains(x.S_CNTR_CODE.Trim()) && x.S_LOC_CODE == wcsTask.S_START_LOC); MainMissionService.Update(wcsTask); locrep.Update(startloc); bobe = true; var device = Settings.deviceInfos.Find(x => x.location.Contains(wcsTask.S_START_LOC)); if (device != null) { if (device.deviceType == 1) { if (device.deviceName.Contains("维希尔抓臂")) { //卸货进行清空，触发扫码 var inde = device.location.ToList().FindIndex(x => x == wcsTask.S_START_LOC) == 0; string V = inde ? "R05" : "R06"; Conn.默认Redis.SetValue(device.deviceName + "." + V, "true", device.deviceName + "Queue", false); TcpServer.TrayIps.Remove(device.deviceNo[inde ? 0 : 1]); } } else if (device.deviceType == 2) { //Task.Run(() => //{ // var inde = device.location.ToList().FindIndex(x => x == wcsTask.S_START_LOC) == 0; // string V = inde ? "D1224" : "D1225"; // Conn.默认Redis.SetValue(device.deviceName + "." + V, "0", device.deviceName + "Queue"); //}); } else switch (device.deviceType) { case 4: { } break; } } //LocationHelper.UnLockLoc(wcsTask.S_START_LOC); break; case "end": LogHelper.Info($"海康车任务状态变更为完成，任务号为：{model.taskCode}", "agv杭叉交互日志"); wcsTask.S_B_STATE = "完成"; wcsTask.T_END_TIME = DateTime.Now; bobe = true; //ILocContainerRepository locContainerRepository2 = new LocContainerRepository(); //List llls = new List(); //foreach (var c in cntrs) //{ // var action = new LocContainerEntity() // { // S_ID = Guid.NewGuid().ToString(), // S_STATE = "编辑", // T_CREATE = DateTime.Now, // T_MODIFY = DateTime.Now, // S_LOC_CODE = endLoc.S_LOC_CODE, // S_CNTR_CODE = c, // S_TYPE = "", // }; // llls.Add(action); //} endLoc.S_LOCK_STATE = "无"; endLoc.N_CURRENT_NUM = 1; endLoc.T_MODIFY = DateTime.Now; MainMissionService.Update(wcsTask); if (Settings.deviceInfos.Find(x => x.deviceType == 2 && (/*x.location.Contains(wcsTask.S_END_LOC)||*/x.deviceNo.Contains(wcsTask.S_END_LOC))) != null) locrep.Update(endLoc); //locContainerRepository2.Insert(llls); var device2 = Settings.deviceInfos.Find(x => x.location.Contains(wcsTask.S_END_LOC)); if (device2 != null) { if (device2.deviceType == 1) { if (device2.deviceName.Contains("维希尔抓臂")) { //string V = device2.location.ToList().FindIndex(x => x == wcsTask.S_START_LOC) == 0 ? "R10" : "R11"; //Conn.默认Redis.SetValue(device2.deviceName + "." + V, "true", device2.deviceName + "Queue"); //卸货再写托盘取走。 然后触发扫码进行校验。 var inde = device2.location.ToList().FindIndex(x => x == wcsTask.S_END_LOC) == 0; //string V = inde ? "R05" : "R06"; //Conn.默认Redis.SetValue(device2.deviceName + "." + V, "true", device2.deviceName + "Queue"); string V2 = inde ? "R10_LAST" : "R11_LAST"; //Conn.默认Redis.SetValue(device2.deviceName + "." + V2, "true", device2.deviceName + "Queue"); GZ.Modular.Redis.RedisHelper.Add(device2.deviceName + "." + V2, "true", out string msg1); TcpServer.TrayIps.Remove(device2.deviceNo[inde ? 0 : 1]); } } else if (device2.deviceType == 2) { if (device2.deviceName.Contains("Js捷顺")) { //Task.Run(() => //{ var inde = device2.location.ToList().FindIndex(x => x == wcsTask.S_END_LOC) == 0; string V = inde ? "D1224" : "D1225"; Conn.默认Redis.SetValue(device2.deviceName + "." + V, "1", device2.deviceName + "Queue"); //}); var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/202", JsonConvert.SerializeObject(new { sceneType = 3, cntrCode = cntrs.FirstOrDefault() })); //if (device2.deviceName.Contains("1")) //{ // if (inde) tag.Js1.D1224 = 1; // else tag.Js1.D1225 = 1; //}else //{ // if (inde) tag.Js2.D1224 = 1; // else tag.Js2.D1225 = 1; //} } var ssloc = device2.deviceNo[1]; var endloc = locrep.FindEntity(x => x.S_LOC_CODE == ssloc); LogHelper.Info($"捷顺卸货后， 查看缓存位 {ssloc}-{endloc?.N_CURRENT_NUM}>0? 则申请mes搬走。"); if (endloc != null && endloc.N_CURRENT_NUM == 1) { var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new { requestType = 3, startBit = ssloc })); LogHelper.Info($"{ssloc}申请mes任务结果{str}"); } } else switch (device2.deviceType) { case 4: { } break; case 5: { var inde = device2.location.ToList().FindIndex(x => x == wcsTask.S_END_LOC) == 0; string V = inde ? "D2210" : "D2215"; Conn.默认Redis.SetValue(device2.deviceName + "." + V, "1", device2.deviceName + "Queue"); } break; case 6: { //var inde = device2.location.ToList().FindIndex(x => x == wcsTask.S_END_LOC) == 0; //string V = inde ? "D2210" : "D2215"; //Conn.默认Redis.SetValue(device2.deviceName + "." + V, "1", device2.deviceName + "Queue"); } break; } } //LocationMethod.JudgeLocation(wcsTask); break; case "cancel": LogHelper.Info($"海康车任务状态变更为取消，任务号为：{model.taskCode}", "agv杭叉交互日志"); wcsTask.S_B_STATE = "取消"; //startloc.S_LOCK_STATE = "无"; //endLoc.S_LOCK_STATE = "无"; MainMissionService.Update(wcsTask); TaskActRepository taskActRepository = new TaskActRepository(); var tare = taskActRepository.FindList(x => x.S_TASK_NO == wcsTask.S_TASK_NO); if (tare.Any()) { if (tare.Find(x => x.S_ACTION_CODE == "outbin") == null) { startloc.S_LOCK_STATE = "无"; endLoc.S_LOCK_STATE = "无"; locrep.Update(startloc); locrep.Update(endLoc); } else if (tare.Find(x => x.S_ACTION_CODE == "end") == null) { endLoc.S_LOCK_STATE = "无"; locrep.Update(endLoc); } } //locrep.Update(startloc); //locrep.Update(endLoc); //TaskProcess.OperateStatus(wcsTask, 7); //WCSHelper.Fail(wcsTask); break; case "apply": // 判断该任务的接驳位是否有其他入库或出库任务，如果有，则在等位等待，如果没有，则入 //TaskisOk(wcsTask); break; } if (!string.IsNullOrEmpty(wcsTask.S_SRC_NO)) { var mestask = MainMissionService.FindEntity(x => x.S_TASK_NO == wcsTask.S_SRC_NO); if (mestask != null && bobe) { if (model.method != "end") { if (mestask.S_START_LOC == wcsTask.S_START_LOC && mestask.S_B_STATE == "MES") Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/201", JsonConvert.SerializeObject(new { reqCode = wcsTask.S_SRC_NO, model.method })); } else { if (mestask.S_END_LOC != wcsTask.S_END_LOC) { LogHelper.Info($"{wcsTask.S_SRC_NO}-{wcsTask.S_TASK_NO} 一阶段完成，重置进行二阶段。"); mestask.N_PRIORITY = -88; MainMissionService.Update(mestask); } else if (mestask.S_B_STATE == "MES") { var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/201", JsonConvert.SerializeObject(new { reqCode = wcsTask.S_SRC_NO, model.method })); } } } else if (mestask != null && model.method == "cancel") { if (mestask.S_B_STATE == "MES") Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/201", JsonConvert.SerializeObject(new { reqCode = wcsTask.S_SRC_NO, model.method })); LogHelper.Info($"{wcsTask.S_SRC_NO}-{wcsTask.S_TASK_NO} 一阶段取消，重置点，线程处理。"); mestask.N_PRIORITY = -1; mestask.S_B_STATE = "MES_取消"; MainMissionService.Update(mestask); } } TaskProcess.AddActionRecord(model.taskCode, model.method, model.eqpCode, model.data, wcsTask.S_START_LOC, wcsTask.S_END_LOC); //调用第三方接口（如果有）TaskProcess.ReportStatus } else { // 暂时设定为0 wcsTask.S_B_STATE = "上报状态空"; //安全请求等 //TaskProcess.OperateReq(model.taskCode, wcsTask.N_B_STATE, model.eqpCode, model.data); } } else { LogHelper.Info($"当前任务号任务不存在{model.taskCode} agv杭叉交互日志"); return new HkReturnResult { reqCode = model.reqCode, code = 1, message = "这不是我们的任务。" }; } return new HkReturnResult { reqCode = model.reqCode, code = 0 }; } public void TaskEverythingRun() { var host = System.Net.Dns.GetHostEntry(System.Net.Dns.GetHostName()); foreach (var ip in host.AddressList) { if (ip.AddressFamily == System.Net.Sockets.AddressFamily.InterNetwork) { Console.WriteLine($"ip= {ip.ToString()}"); new HttpServer(ip.ToString()).HttpServerRun(); new TcpServer(ip.ToString()); var server = new EnhancedWebSocketServer($"http://{ip.ToString()}:8809/").StartAsync(); //var client = new WebSocketClient($"http://{ip.ToString()}:8809/").ConnectAsync(); break; } } } /// /// 定子1号线。 /// 1.增加下线逻辑。 2. 有取筐信号就写，没信号嫑写 /// /// public void ThreadMXC3(Tag tag) { var VERX = Settings.deviceInfos.Find(x => x.deviceType == 5 && x.deviceName.Contains("1号")); if (VERX == null) { LogHelper.Info("定子1号线 deviceType 5 没有配置。"); return; } LogHelper.Info($" {VERX.deviceName} 时间戳 {RedisHelper.Get("D定子1号机械手#Timestamp", out string mg)} D2221>{tag.DZ1.D2221} D2221_LAST>{tag.DZ1.D2221_LAST} D2226>{tag.DZ1.D2226} D2226_LAST>{tag.DZ1.D2226_LAST}"); if (tag.DZ1.D2221 == 1 && tag.DZ1.D2221_LAST == 0) { var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new { requestType = 7, startBit = VERX.location[0], endBit = "1025", unLockStartBitOutbin = true })); LogHelper.Info($"{VERX.location[0]}申请mes任务结果{str}"); var strr = JsonConvert.DeserializeObject(str); if (strr != null && strr.success && strr.data?.state == 0) RedisHelper.Add($"D定子1号机械手.D2221_LAST", "1", out string msg); } else if (tag.DZ1.D2221 == 0 && tag.DZ1.D2221_LAST == 1) { LogHelper.Info($"重置 D定子1号机械手.D2221_LAST > 0"); RedisHelper.Add($"D定子1号机械手.D2221_LAST", "0", out string msg); string V = 0 == 0 ? "D2210" : "D2215"; Conn.默认Redis.SetValue(VERX.deviceName + "." + V, "0", VERX.deviceName + "Queue"); } if (tag.DZ1.D2226 == 1 && tag.DZ1.D2226_LAST == 0) { var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new { requestType = 7, startBit = VERX.location[1], endBit = "1025", unLockStartBitOutbin = true })); LogHelper.Info($"{VERX.location[0]}申请mes任务结果{str}"); var strr = JsonConvert.DeserializeObject(str); if (strr != null && strr.success && strr.data?.state == 0) RedisHelper.Add($"D定子1号机械手.D2226_LAST", "1", out string msg); } else if (tag.DZ1.D2226 == 0 && tag.DZ1.D2226_LAST == 1) { LogHelper.Info($"重置 D定子1号机械手.D2226_LAST > 0"); RedisHelper.Add($"D定子1号机械手.D2226_LAST", "0", out string msg); string V = 1 == 0 ? "D2210" : "D2215"; Conn.默认Redis.SetValue(VERX.deviceName + "." + V, "0", VERX.deviceName + "Queue"); } } /// /// 定子2号线。 /// /// public void ThreadMXC4(Tag tag) { var VERX = Settings.deviceInfos.Find(x => x.deviceType == 5 && x.deviceName.Contains("2号")); if (VERX == null) { LogHelper.Info("定子2号线 deviceType 5 没有配置。"); return; } LogHelper.Info($" {VERX.deviceName} 时间戳 {RedisHelper.Get("D定子2号机械手#Timestamp", out string mg)} D2221>{tag.DZ2.D2221} D2221_LAST>{tag.DZ2.D2221_LAST} D2226>{tag.DZ2.D2226} D2226_LAST>{tag.DZ2.D2226_LAST}"); if (tag.DZ2.D2221 == 1 && tag.DZ2.D2221_LAST == 0) { var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new { requestType = 7, startBit = VERX.location[0], endBit = "1025", unLockStartBitOutbin = true })); LogHelper.Info($"{VERX.location[0]}申请mes任务结果{str}"); var strr = JsonConvert.DeserializeObject(str); if (strr != null && strr.success && strr.data?.state == 0) RedisHelper.Add($"D定子2号机械手.D2221_LAST", "1", out string msg); } else if (tag.DZ2.D2221 == 0 && tag.DZ2.D2221_LAST == 1) { LogHelper.Info($"重置 D定子2号机械手.D2221_LAST > 0"); RedisHelper.Add($"D定子2号机械手.D2221_LAST", "0", out string msg); string V = 0 == 0 ? "D2210" : "D2215"; Conn.默认Redis.SetValue(VERX.deviceName + "." + V, "0", VERX.deviceName + "Queue"); } if (tag.DZ2.D2226 == 1 && tag.DZ2.D2226_LAST == 0) { var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new { requestType = 7, startBit = VERX.location[1], endBit = "1025", unLockStartBitOutbin = true })); LogHelper.Info($"{VERX.location[0]}申请mes任务结果{str}"); var strr = JsonConvert.DeserializeObject(str); if (strr != null && strr.success && strr.data?.state == 0) RedisHelper.Add($"D定子2号机械手.D2226_LAST", "1", out string msg); } else if (tag.DZ2.D2226 == 0 && tag.DZ2.D2226_LAST == 1) { LogHelper.Info($"重置 D定子2号机械手.D2226_LAST > 0"); RedisHelper.Add($"D定子2号机械手.D2226_LAST", "0", out string msg); string V = 1 == 0 ? "D2210" : "D2215"; Conn.默认Redis.SetValue(VERX.deviceName + "." + V, "0", VERX.deviceName + "Queue"); } } } public class HttpServer { System.Net.HttpListener HttpSvcHost = null; public static string _listenerPrefix = ""; public HttpServer(string ip) { _listenerPrefix = $"http://{ip}:8808/"; } public void HttpServerRun() { HttpSvcHost = new System.Net.HttpListener(); HttpSvcHost.AuthenticationSchemes = System.Net.AuthenticationSchemes.Anonymous; HttpSvcHost.Prefixes.Add(_listenerPrefix); HttpSvcHost.Start(); HttpSvcHost.BeginGetContext(HttpSvcListenerCallback, null); } private async void HttpSvcListenerCallback(IAsyncResult ar) { System.Net.HttpListenerContext context = null; var data = DateTime.Now; string apth = ""; try { HttpSvcHost.BeginGetContext(HttpSvcListenerCallback, null); context = HttpSvcHost.EndGetContext(ar); System.Net.HttpListenerRequest request = context.Request; System.Net.HttpListenerResponse response = context.Response; using (var reader = new System.IO.StreamReader(request.InputStream, System.Text.Encoding.UTF8)) { string requestJson = reader.ReadToEnd(); System.Net.HttpStatusCode statusCode = 0; apth = request.Url.AbsolutePath; string respstr = HttpSvcListenerCallback_he(request.HttpMethod, request.Url.AbsolutePath, requestJson, out statusCode); string logContent = ""; logContent += $"\r\n[{request.HttpMethod}]{request.Url.AbsolutePath}"; logContent += $"\r\n[request]{requestJson}"; logContent += $"\r\n[response]{respstr}"; _ = Task.Run(() => { Conn.默认日志?.Info(logContent); }); byte[] bytstr = Encoding.UTF8.GetBytes(respstr); response.StatusCode = (int)statusCode; response.SendChunked = false; response.ContentLength64 = bytstr.Length; //response.OutputStream.Write(bytstr, 0, bytstr.Length); if (request.Url.AbsolutePath.ToLower().Contains(".js")) response.ContentType = "application/javascript"; else if (request.Url.AbsolutePath.ToLower().Contains(".svg")) response.ContentType = "image/svg+xml"; // 异步写入响应 await response.OutputStream.WriteAsync(bytstr, 0, bytstr.Length); } } catch (Exception ex) { _ = Task.Run(() => { Conn.默认日志.Error(ex.ToString()); }); } finally { context?.Response.Close(); Console.WriteLine(apth + "<<>>" + DateTime.Now.Subtract(data).TotalMilliseconds); } } private System.String HttpSvcListenerCallback_he(System.String method, System.String path, System.String requestJson, out System.Net.HttpStatusCode statusCode) { try { switch (method) { case "POST": { switch (path) { case "/agv/agvCallbackService/agvCallback": { statusCode = System.Net.HttpStatusCode.OK; LogHelper.Info("ExecuteState Request-haikang：" + requestJson); var model = JsonConvert.DeserializeObject(requestJson); AutoThread.Instance.OperateHKTaskStatus(model); return JsonConvert.SerializeObject(new HkReturnResult { reqCode = model.reqCode }); } case "/api/Wcs/CreateTask": { statusCode = System.Net.HttpStatusCode.OK; LogHelper.Info("/api/Wcs/CreateTask：" + requestJson); var model = JsonConvert.DeserializeObject(requestJson); var res = ToWMSMES.CreateTask.CreatemesTask(model); return JsonConvert.SerializeObject(res); } case "/api/Wcs/TestRequestTask": { statusCode = System.Net.HttpStatusCode.OK; LogHelper.Info("/api/Wcs/TestRequestTask：" + requestJson); var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", requestJson); return str; } case "/api/Wcs/updateStatus": { statusCode = System.Net.HttpStatusCode.OK; LogHelper.Info("/api/Wcs/updateStatus：" + requestJson); var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/201", requestJson); return str; } case "/api/Wcs/toMes": { statusCode = System.Net.HttpStatusCode.OK; LogHelper.Info("/api/Wcs/toMes：" + requestJson); var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/202", requestJson); return str; } case "/api/Wcs/CreatePointTask": { statusCode = System.Net.HttpStatusCode.OK; LogHelper.Info("/api/Wcs/CreatepointTask：" + requestJson); var model = JsonConvert.DeserializeObject(requestJson); var res = ToWMSMES.CreateTask.CreatePointTask(model); return JsonConvert.SerializeObject(res); } } break; } case "GET": { switch (path) { case var _ when System.Text.RegularExpressions.Regex.IsMatch(path, @"\.(html|ico|js|css)(\?.*)?$", System.Text.RegularExpressions.RegexOptions.IgnoreCase): { statusCode = System.Net.HttpStatusCode.OK; // 复制到case 上 //var _ when System.Text.RegularExpressions.Regex.IsMatch(path, @"\.(html|ico|js|css)(\?.*)?$", System.Text.RegularExpressions.RegexOptions.IgnoreCase) var filePath = /*Directory.GetCurrentDirectory() + "\\Static" + "\\" + path.Substring(1);*/System.IO.Path.Combine(Directory.GetCurrentDirectory() + "\\Static", path.Substring(1)); return File.ReadAllText(filePath); } } break; } } statusCode = System.Net.HttpStatusCode.NotFound; return ""; } catch (Exception ex) { Conn.默认日志.Error(ex.ToString()); statusCode = System.Net.HttpStatusCode.InternalServerError; return ""; } } } class EnhancedWebSocketServer { private HttpListener _listener; private readonly string _listenerPrefix; private readonly ConcurrentDictionary _connections = new ConcurrentDictionary(); private CancellationTokenSource _cts = new CancellationTokenSource(); public EnhancedWebSocketServer(string url) { _listenerPrefix = url; } public async Task StartAsync() { try { _listener = new HttpListener(); _listener.Prefixes.Add(_listenerPrefix); _listener.Start(); Console.WriteLine($"WebSocket服务器已启动，监听 {_listenerPrefix}"); while (!_cts.IsCancellationRequested) { HttpListenerContext context = await _listener.GetContextAsync(); if (context.Request.IsWebSocketRequest) { var wsContext = await context.AcceptWebSocketAsync(null); var connectionId = Guid.NewGuid(); _connections[connectionId] = wsContext.WebSocket; _ = HandleConnectionAsync(connectionId, wsContext.WebSocket, _cts.Token); } else { context.Response.StatusCode = 400; context.Response.Close(); } } } catch (Exception ex) when (ex is HttpListenerException || ex is ObjectDisposedException) { // 服务器停止时的正常异常 Console.WriteLine("服务器正在停止..."); } } private async Task HandleConnectionAsync(Guid connectionId, WebSocket webSocket, CancellationToken ct) { var buffer = new byte[1024 * 4]; try { while (webSocket.State == WebSocketState.Open && !ct.IsCancellationRequested) { var result = await webSocket.ReceiveAsync(new ArraySegment(buffer), ct); if (result.MessageType == WebSocketMessageType.Close) { await webSocket.CloseAsync(WebSocketCloseStatus.NormalClosure, "客户端关闭连接", ct); break; } string message = System.Text.Encoding.UTF8.GetString(buffer, 0, result.Count); Console.WriteLine($"连接 {connectionId} 收到消息: {message}"); // 广播消息给所有客户端 await BroadcastMessageAsync($"客户端 {connectionId} 说: {message}"); } } catch (WebSocketException ex) { Console.WriteLine($"连接 {connectionId} 错误: {ex.WebSocketErrorCode} - {ex.Message}"); } catch (Exception ex) { Console.WriteLine($"处理连接 {connectionId} 时出错: {ex.Message}"); } finally { _connections.TryRemove(connectionId, out _); webSocket?.Dispose(); Console.WriteLine($"{DateTime.Now.ToString("HH:mm:ss.fff")} 连接 {connectionId} 已关闭"); } } public async Task BroadcastMessageAsync(string message) { var buffer = System.Text.Encoding.UTF8.GetBytes(message); foreach (var connection in _connections) { if (connection.Value.State == WebSocketState.Open) { try { await connection.Value.SendAsync( new ArraySegment(buffer), WebSocketMessageType.Text, true, CancellationToken.None); } catch (Exception ex) { Console.WriteLine($"广播消息到连接 {connection.Key} 失败: {ex.Message}"); } } } } public async Task StopAsync() { _cts.Cancel(); // 关闭所有连接 foreach (var connection in _connections) { try { if (connection.Value.State == WebSocketState.Open) { await connection.Value.CloseAsync( WebSocketCloseStatus.NormalClosure, "服务器关闭", CancellationToken.None); } connection.Value.Dispose(); } catch (Exception ex) { Console.WriteLine($"关闭连接 {connection.Key} 时出错: {ex.Message}"); } } _listener?.Stop(); _listener?.Close(); Console.WriteLine("WebSocket服务器已停止"); } } internal class WebSocketClient { private ClientWebSocket _webSocket = new ClientWebSocket(); private readonly Uri _serverUri; public WebSocketClient(string serverUrl) { _serverUri = new Uri(serverUrl); } public async Task ConnectAsync() { try { await _webSocket.ConnectAsync(_serverUri, CancellationToken.None); Console.WriteLine("已连接到WebSocket服务器"); // 启动接收消息任务 _ = ReceiveMessagesAsync(); // 发送测试消息 await SendMessageAsync("Hello, Server!"); } catch (Exception ex) { Console.WriteLine($"连接失败: {ex.Message}"); } } private async Task ReceiveMessagesAsync() { var buffer = new byte[1024]; try { while (_webSocket.State == WebSocketState.Open) { var result = await _webSocket.ReceiveAsync(new ArraySegment(buffer), CancellationToken.None); if (result.MessageType == WebSocketMessageType.Close) { await _webSocket.CloseAsync(WebSocketCloseStatus.NormalClosure, string.Empty, CancellationToken.None); Console.WriteLine("服务器关闭了连接"); break; } string message = Encoding.UTF8.GetString(buffer, 0, result.Count); Console.WriteLine($"收到服务器消息: {message}"); } } catch (Exception ex) { Console.WriteLine($"接收消息时出错: {ex.Message}"); } } public async Task SendMessageAsync(string message) { if (_webSocket.State != WebSocketState.Open) { Console.WriteLine("WebSocket未连接，无法发送消息"); return; } byte[] buffer = Encoding.UTF8.GetBytes(message); await _webSocket.SendAsync(new ArraySegment(buffer), WebSocketMessageType.Text, true, CancellationToken.None); } public async Task DisconnectAsync() { if (_webSocket.State == WebSocketState.Open) { await _webSocket.CloseAsync(WebSocketCloseStatus.NormalClosure, "客户端关闭连接", CancellationToken.None); } _webSocket.Dispose(); Console.WriteLine("已断开WebSocket连接"); } } class Messss { public bool success { get; set; } public Ddata data { get; set; } public object extra { get; set; } } class Mesrespone { public bool success { get; set; } public string msg { get; set; } public object extra { get; set; } } class MES2234 { public bool success { get; set; } public ML data { get; set; } } public class ML { public string materialCode { get; set; } public int lineNum { get; set; } } public class Ddata { public string reqCode { get; set; } public int state { get; set; } public string error { get; set; } } } #endregion [自定义类-VS][20250623083459471][AutoThread]